Morais, R; Peres, E; Boaventura Cunha, J; Mendes, J; Cosme, F; Nunes, FM;
Computers and Electronics in Agriculture
Santos, L; dos Santos, FN; Mendes, J; Ferraz, N; Lima, J; Morais, R; Costa, P;
ROBOT 2017: Third Iberian Robotics Conference - Volume 1, Seville, Spain, November 22-24, 2017
Mendes, J; dos Santos, FN; Ferraz, N; Couto, P; Morais, R;
2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016)
Develop ground robots for crop monitoring and harvesting in steep slope vineyards is a complex challenge due to two main reasons: harsh condition of the terrain and unstable localization accuracy got from Global Positioning Systems (GPS). For this context, a reliable localization system requires a high density of natural/artificial features and an accurate detector. This paper presents a novel visual detector for Vineyards Trunks and Masts (ViTruDe). The ViTruDe detector was developed considering the constrains of a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environment. The obtained results with real data shows an accuracy higher than 95% for all tested configurations. The training and test data are made public for future research work. This approach is a contribution for an accurate and reliable localization system that is GPS-free.
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