P2Ag: Perception Pipeline in Agriculture for Robotic Harvesting of Tomatoes

Soofiyan Atar, Simranjeet Singh, Jaison Jose, Kavi Arya

2022

Abstract

Harvesting tomatoes in agriculture is a time-consuming and repetitive task. Different techniques such as accurate detection, classification, and exact location of tomatoes must be utilized to automate harvesting tasks. This paper proposes a perception pipeline (P2Ag) that can effectively harvest tomatoes using instance segmentation, classification, and semantic mapping techniques. P2Ag is highly optimized for embedded hardware in terms of performance, computational power and cost. It provides decision-making approaches for harvesting along with perception techniques, using a semantic map of the environment. This research offers an end- to-end perception solution for autonomous agricultural harvesting. To evaluate our approach, we designed a simulator environment with tomato plants and a stereo-vision sensor. This paper reports results on detecting tomatoes (actual and simulated ) and marking each tomato’s location in 3D space. In addition, the evaluation shows that the proposed P2Ag outperforms the state-of-the-art implementations.

Paper Citation

in Harvard Style

Atar S., Singh S., Jose J. and Arya K. (2022). P2Ag: Perception Pipeline in Agriculture for Robotic Harvesting of Tomatoes. In Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART, ISBN 978-989-758-547-0, pages 121-129. DOI: 10.5220/0010786100003116

in Bibtex Style

@conference{icaart22,
author={Soofiyan Atar and Simranjeet Singh and Jaison Jose and Kavi Arya},
title={P2Ag: Perception Pipeline in Agriculture for Robotic Harvesting of Tomatoes},
booktitle={Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART,},
year={2022},
pages={121-129},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010786100003116},
isbn={978-989-758-547-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART,
TI - P2Ag: Perception Pipeline in Agriculture for Robotic Harvesting of Tomatoes
SN - 978-989-758-547-0
AU - Atar S.
AU - Singh S.
AU - Jose J.
AU - Arya K.
PY - 2022
SP - 121
EP - 129
DO - 10.5220/0010786100003116