[논문]참외 자동 수확을 위한 과일 주요 지점 검출

강승우; 윤정훈; 정용식; 김경철; 이대현

doi:10.7839/ksfc.2024.21.2.065

[국내논문] 참외 자동 수확을 위한 과일 주요 지점 검출
Key-point detection of fruit for automatic harvesting of oriental melon

드라이브ㆍ컨트롤 = Journal of drive and control, v.21 no.2, 2024년, pp.65 - 71

강승우 (Department of Biosystem Machinery Engineering, Chungnam National University) , 윤정훈 (SolarPos Inc.) , 정용식 (Okcheon-gun Agricultural Technology Center) , 김경철 (Department of Agricultural Engineering, National Institute of Agricultural Science) , 이대현 (Department of Biosystem Machinery Engineering, Chungnam National University)

Abstract ▼ AI-Helper

In this study, we suggested a key-point detection method for robot harvesting of oriental melon. Our suggested method could be used to detect the detachment part and major composition of oriental melon. We defined four points (harvesting point, calyx, center, bottom) based on tomato with characteristics similar to those of oriental melon. The evaluation of estimated key-points was conducted by pixel error and PDK (percentage of detected key-point) index. Results showed that the average pixel error was 18.26 ± 16.62 for the x coordinate and 17.74 ± 18.07 for the y coordinate. Considering the resolution of raw images, these pixel errors were not expected to have a serious impact. The PDK score was found to be 89.5% PDK@0.5 on average. It was possible to estimate oriental melon specific key-point. As a result of this research, we believe that the proposed method can contribute to the application of harvesting robot system.

Keyword

표/그림 (7)

그림 Fig. 1 Representative images of digital green house and acquired images
그림 Fig. 2 Major composition of oriental melon
그림 Fig. 3 Pose estimation model architecture
그림 Fig. 4 loss graph during 2,000 epochs; left is train dataset loss graph and right is validation dataset loss graph
그림 Fig. 5 Representative results of key-poins detection of oriental melon; first row is the raw images, second row is ground truth of melon posture and third row is results of estimated melon posture
그림 Fig. 6 The PDK curve by 4 points
표 Table 3 Estimated pixel error of coordinates X and Y by 4 points

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