Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

Abstract

In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. Initial field trials in protected cropping environments, with two cultivar, demonstrate the efficacy of this approach achieving a 46% success rate for unmodified crop, and 58% for modified crop. Furthermore, for the more favourable cultivar we were also able to detach 90% of sweet peppers, indicating that improvements in the grasping success rate would result in greatly improved harvesting performance.

References in corpus (1)

• Peduncle Detection of Sweet Pepper for Autonomous Crop Harvesting - Combined Colour and 3D Information

Cited by in corpus (5)

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• Flower Interaction Subsystem for a Precision Pollination Robot
• Lessons Learnt from Field Trials of a Robotic Sweet Pepper Harvester
• In-Field Peduncle Detection of Sweet Peppers for Robotic Harvesting: a comparative study
• Shape Back-Projection In 3D Scenes