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ARS Home » Northeast Area » Kearneysville, West Virginia » Appalachian Fruit Research Laboratory » Innovative Fruit Production, Improvement, and Protection » Research » Research Project #434732

Research Project: Visual Servoing in Agricultural Environments

Location: Innovative Fruit Production, Improvement, and Protection

Project Number: 8080-21000-024-66-N
Project Type: Non-Funded Cooperative Agreement

Start Date: May 1, 2018
End Date: Apr 30, 2023

Objective:
Autonomous systems for performing physical tasks must sense the object of interest and then move robotic components to the object of interest in order to perform the task. This agreement aims to investigate the latter action, the movement of robotic components in order to perform a task, which is termed visual servoing when cameras or other visual sensors are used to sense the object’s location. Performing visual servoing on agricultural objects with non-standard features, such as dormant trees, is challenging, yet required for tasks such as robotic pruning.

Approach:
We aim to assess the state-of-the-art in robotic visual servoing as applied to complicated, challenging objects such as trees. We also plan to implement new algorithms to mitigate any deficiencies found in the state-of-the-art methodologies and the existing underlying theories of visual servoing.