Robotic Fertilisation Using Localisation Systems Based on Point Clouds in Strip-Cropping Fields
Abstract
:1. Introduction
2. Materials and Methods
2.1. Materials
2.2. Interaction between Subsystems
2.2.1. Data Acquisition and Communications
2.2.2. Robot Positioning Based on Geometrical Parameters Extraction of the Plants
2.3. Robot Localisation System in Row-Growing
2.3.1. Normals Calculation
2.3.2. Key Points Extraction
2.4. Simulated Gazebo Environment
3. Results and Discussion
3.1. Geometrical Parameters Extraction from Point Cloud Plants
3.2. Features Extraction from Point Clouds
3.2.1. Normals Extraction
3.2.2. Key Points Extraction and Matching
3.3. Localisation Test
4. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Abbreviations
L-PC | Local Point Cloud |
PCL | Point Cloud Library |
G-PC | General Point Cloud |
ROS | Robot Operating System |
RVIZ | ROS Visualization |
Appendix A
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Element | Amount | Description |
---|---|---|
Robot Igus CPR 5 DOF | 1 | Actuator |
Lidar (SICK AG) | 3 | 2D Laser sensor |
Parrot Sequoia | 1 | Multi-spectral camera |
User interface | 1 | ROS Central Core |
Control box | 1 | Electrical system |
Cluster | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
---|---|---|---|---|---|---|---|---|---|---|
Radio (cm) | 51 | 53 | 49 | 53 | 51 | 55 | 54 | 42 | 48 | 39 |
X pos (cm) | 1610 | 380 | 920 | 20 | 1720 | 740 | 240 | 1190 | 810 | 1850 |
Y pos (cm) | −39 | −51 | −41 | −40 | −38 | −39 | −37 | −30 | −39 | −36 |
Height (cm) | 40 | 41 | 39 | 44 | 42 | 45 | 44 | 39 | 41 | 40 |
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Cruz Ulloa, C.; Krus, A.; Barrientos, A.; Del Cerro, J.; Valero, C. Robotic Fertilisation Using Localisation Systems Based on Point Clouds in Strip-Cropping Fields. Agronomy 2021, 11, 11. https://0-doi-org.brum.beds.ac.uk/10.3390/agronomy11010011
Cruz Ulloa C, Krus A, Barrientos A, Del Cerro J, Valero C. Robotic Fertilisation Using Localisation Systems Based on Point Clouds in Strip-Cropping Fields. Agronomy. 2021; 11(1):11. https://0-doi-org.brum.beds.ac.uk/10.3390/agronomy11010011
Chicago/Turabian StyleCruz Ulloa, Christyan, Anne Krus, Antonio Barrientos, Jaime Del Cerro, and Constantino Valero. 2021. "Robotic Fertilisation Using Localisation Systems Based on Point Clouds in Strip-Cropping Fields" Agronomy 11, no. 1: 11. https://0-doi-org.brum.beds.ac.uk/10.3390/agronomy11010011