Deep Learning-Based Occlusion Handling of Overlapped Plants for Robotic Grasping

Author:

Mohammadzadeh Babr MohammadORCID,Faghihabdolahi MaryamORCID,Ristić-Durrant DanijelaORCID,Michels Kai

Abstract

Instance segmentation of overlapping plants to detect their grasps for possible robotic grasping presents a challenging task due to the need to address the problem of occlusion. We addressed the problem of occlusion using a powerful convolutional neural network for segmenting objects with complex forms and occlusions. The network was trained with a novel dataset named the “occluded plants” dataset, containing real and synthetic images of plant cuttings on flat surfaces with differing degrees of occlusion. The synthetic images were created using the novel framework for synthesizing 2D images by using all plant cutting instances of available real images. In addition to the method for occlusion handling for overlapped plants, we present a novel method for determining the grasps of segmented plant cuttings that is based on conventional image processing. The result of the employed instance segmentation network on our plant dataset shows that it can accurately segment the overlapped plants, and it has a robust performance for different levels of occlusions. The presented plants’ grasp detection method achieved 94% on the rectangle metric which had an angular deviation of 30 degrees and an IoU of 0.50. The achieved results show the viability of our approach on plant species with an irregular shape and provide confidence that the presented method can provide a basis for various applications in the food and agricultural industries.

Funder

Bremer Aufbau‐Bank (BAB) and EFRE (European Funds for Regional Developments) EU Investments in Future of Bremen

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3