Automated detection and counting of grape bunches using a farmer robot

Rosa Pia Devanna; Giulio Reina; Annalisa Milella

doi:10.1117/12.2673962

9 August 2023 Automated detection and counting of grape bunches using a farmer robot

Rosa Pia Devanna, Giulio Reina, Annalisa Milella

Proceedings Volume 12621, Multimodal Sensing and Artificial Intelligence: Technologies and Applications III; 1262113 (2023) https://doi.org/10.1117/12.2673962
Event: SPIE Optical Metrology, 2023, Munich, Germany

Abstract

This paper describes a novel image acquisition and processing framework to detect and count grape bunches along vineyard rows, using RGB and depth data acquired in the field by a farmer robot. The proposed pipeline starts with a semantic image segmentation module that uses a pre-trained convolutional neural network to separate fruit from non-fruit regions. Areas pertaining to fruits are then further processed using a depth gradient-based clustering algorithm to detect and separate single grape bunches. Experiments performed in a commercial vineyard are presented showing that, despite the low quality of the input images, the proposed approach is able to correctly detect and count grape clusters with good accuracy.

Conference Presentation

Citation Download Citation

Rosa Pia Devanna, Giulio Reina, and Annalisa Milella "Automated detection and counting of grape bunches using a farmer robot", Proc. SPIE 12621, Multimodal Sensing and Artificial Intelligence: Technologies and Applications III, 1262113 (9 August 2023); https://doi.org/10.1117/12.2673962

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