An active laser-camera scanning system for precision fruit localization in robotic harvesting

K. Zhang; P. Chu; K. Lammers; Z. Li; R. Lu

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An active laser-camera scanning system for precision fruit localization in robotic harvesting

In: Precision agriculture '25

Authors:

K. Zhang

K. Zhang

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P. Chu

P. Chu

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K. Lammers

K. Lammers

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Z. Li

Z. Li

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R. Lu

R. Lu
renfu.lu@usda.gov

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Type:: Chapter

Pages:: 998–1005

DOI:: https://doi.org/10.1163/9789004725232_131

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Dar Hadith al Hassania

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An active laser-camera scanner (ALACS), mainly consisting of a red line laser, an RGB camera, and a linear motion slide, was designed for robust and precision fruit localization. A dynamic-targeting laser-triangulation method, coupled with a laser line extraction algorithm, was developed for precise depth computation of target fruits. Calibration results showed that ALACS had the maximum localization errors of 0.6 mm, 1.2 mm and 4.0 mm in the x, y and z (depth) directions, respectively, and the average depth error of less than 1 mm for targets at distances between 100 cm and 160 cm. When integrated with a vacuum-based robotic apple harvesting system, ALACS achieved a 95% fruit detachment rate in an orchard picking evaluation.

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Precision agriculture '25

E-Book ISBN:: 9789004725232

Publisher:: Wageningen Academic

Print Publication Date:: 18 Jun 2025

Subjects
- Life Sciences
  - General
  - Agriculture & Environment

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An active laser-camera scanning system for precision fruit localization in robotic harvesting

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Precision agriculture '25

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