Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

@article{Lehnert2017AutonomousSP,
  title={Autonomous Sweet Pepper Harvesting for Protected Cropping Systems},
  author={Christopher F. Lehnert and Andrew English and Chris McCool and Adam W. Tow and Tristan Perez},
  journal={IEEE Robotics and Automation Letters},
  year={2017},
  volume={2},
  pages={872-879}
}
In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. Initial field trials in protected cropping environments, with two cultivar, demonstrate the efficacy of this approach achieving a 46% success rate for unmodified crop, and 58% for modified crop. Furthermore, for the more… CONTINUE READING

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