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Robot localization in changing organic strip-cropping environments through point clouds

Cruz Ulloa, Christyan; Barrientos, Antonio; Cerro, Jaime; Krus, Anne and Valero, Constantino (2020) Robot localization in changing organic strip-cropping environments through point clouds. Working paper. [Completed]

[thumbnail of Poster Sureveg_CAR-UPM September 2020_SPAIN.pdf] PDF - Presentation - English


This presentation is aimed at estimating the position of the robot in row crops despite continuous changes in the environment (due to wind or small plant growth), using a LiDAR sensor to obtain global point clouds (previously registered, all-terrain) and local point clouds (from one part of the ground obtained during the advance of the robot), in fertilization tasks

EPrint Type:Working paper
Teaser:Results show that using the adequate extraction of characteristics in global and local point cloud maps, it is possible to determine the robot's relative position for fertilization tasks (blue) and the sensor (red) concerning the crop. This technique has applications in a variety of crops due to wind or small plant growth.
What problem does the tool address?:Using robotics for targeted fertilisation in a strip-crop environment
What solution does the tool offer?:How to train a robot to find individual plants for individualized fertilization
Keywords:robot, fertilization, organic, LiDAR, point cloud, local positioning
Agrovoc keywords:
strip cropping
Subjects: Crop husbandry > Crop combinations and interactions
Farming Systems > Buildings and machinery
Research affiliation: European Union > CORE Organic > CORE Organic Cofund > SUREVEG
Spain > CSIC (Spanish National Research Council)
Spain > Polytechnic University of Madrid
Horizon Europe or H2020 Grant Agreement Number:727495
Deposited By: Valero, Constantino
ID Code:43289
Deposited On:01 Feb 2022 07:29
Last Modified:01 Feb 2022 07:29
Document Language:English
Refereed:Not peer-reviewed

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