Alessio Plebe

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The orange picking robot (OPR) is a project for developing a robot that is able to harvest oranges automatically. One of the key tasks in this robotic application is to identify the fruit and to measure its location in three dimensions. This should be performed using image processing techniques which must be sufficiently robust to cope with variations in(More)
This work describes a method for $filtering image sequences degraded by noise, where the main object is moving with an almost periodic displacement. This object is assumed to be the only region of interest in the image, and tracking its movement against the background is the goal of the image processing. Under such circumstances, it is argued that a noise(More)
The double traveling salesman problem is a variation of the basic traveling salesman problem where targets can be reached by two salespersons operating in parallel. The real problem addressed by this work concerns the optimization of the harvest sequence for the two independent arms of a fruit-harvesting robot. This application poses further constraints,(More)
Object recognition is one of the most important functions of the human visual system, yet one of the least understood, this despite the fact that vision is certainly the most studied function of the brain. We understand relatively well how several processes in the cortical visual areas that support recognition capabilities take place, such as orientation(More)
Humans come to recognize an infinite variety of natural and man-made objects in their lifetime and make use of sounds to identify and categorize them. How does this lifelong learning process begin? Many hypotheses have been proposed to explain the learning of first words with some emerging from the particular characteristics observed in child development.(More)
We describe a novel system for grading oranges into three quality bands, according to their surface characteristics. This processing operation is currently the only non-automated step in citrus packing houses. The system must handle fruit with a wide range of size (55-100mm), shape (spherical to highly eccentric), surface coloration and defect markings.(More)
We describe a novel system for grading oranges into three quality bands, according to their surface characteristics. The system is designed to process fruit with a wide range of size (55–100 mm), shape (spherical to highly eccentric), surface coloration and defect markings. This application requires both high throughput (5–10 oranges per second) and complex(More)
We describe the system control architecture of a large, orange harvesting robot. This robot has two independent electrically driven telescopic arms mounted on a common platform which is itself held by a large hydraulic arm. This arm, in turn, is mounted on a tracked vehicle. The telescopic arms have cameras within the end-eeectors, that are used to detect(More)