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Sweet Pepper Harvesting Robot

Deliverables

Advanced software for fruit detection, localization and maturity

Advanced software for fruit detection, localization and maturity

Final report on obstacle detection and localization algorithms

Final report on obstacle detection and localization algorithms

Demonstration of the optimized growing strategy adjusted for robotic harvesting

Demonstration of the optimized growing strategy adjusted for robotic harvesting

Effect of cultivation technique on crop openness and production

Effect of cultivation technique on crop openness and production

Report on final performance of developed harvesting robot

Report on final performance of developed harvesting robot

Report on evaluation results

Report on evaluation results

Influence of harvesting method on sensitivity for plant diseases and fruit quality

Influence of harvesting method on sensitivity for plant diseases and fruit quality

Final report on fruit detection, localization and maturity algorithms

Final report on fruit detection, localization and maturity algorithms

Specification of ROS messages between all software components

Specification of ROS messages between all software components

Report on evaluation methodologies

Report on evaluation methodologies

Enhancing crop openness by means of climate control

Enhancing crop openness by means of climate control

Determine crop-criterions

Determine crop-criterions

Report on basic fruit detection, localization and maturity algorithms

Report on basic fruit detection, localization and maturity algorithms

Report on test scenarios and definition performance measures

Report on test scenarios and definition performance measures

Selection of the most appropriate varieties for mechanical harvesting

Selection of the most appropriate varieties for mechanical harvesting

Altering plant morphology by means of LED lighting

Altering plant morphology by means of LED lighting

At least 8 oral presentations on scientific conferences

At least 8 oral presentations on scientific conferences

At least 5 submitted scientific papers to peer reviewed journal

At least 5 submitted scientific papers to peer reviewed journal

Basic Routines for precise gripper control for manipulator

Basic Routines for precise gripper control for manipulator

Basic software for fruit detection, localization and maturity

Basic software for fruit detection, localization and maturity

Extended and implemented software framework and GUI

Extended and implemented software framework and GUI

Motion control routines for the manipulator and gripper

Motion control routines for the manipulator and gripper

At least 10 papers in farmers magazines

At least 10 papers in farmers magazines

Training session during SWEEPER workshop on the use of ROS and on the SWEEPER software framework

Training session during SWEEPER workshop on the use of ROS and on the SWEEPER software framework

Advanced software for obstacle detection and localization algorithms

Advanced software for obstacle detection and localization algorithms

"Advanced software for fruit detection, localization and maturity, linked with results from WP6: optimized crop #1"

"Advanced software for fruit detection, localization and maturity, linked with results from WP6: optimized crop #1"

Specification of ROS messages between all basic software components

Specification of ROS messages between all basic software components

Motion planning and obstacle avoidance for manipulator

Motion planning and obstacle avoidance for manipulator

Basic Algorithms for obstacle detection and avoidance for the automated platform

Basic Algorithms for obstacle detection and avoidance for the automated platform

"Image database #2 with different crop conditions available for analyses"

"Image database #2 with different crop conditions available for analyses"

"Image databases #4 with different crop conditions (corresponding to WP6) available for analyses"

"Image databases #4 with different crop conditions (corresponding to WP6) available for analyses"

"Image databases #3 with different crop conditions (corresponding to WP6) available for analyses"

"Image databases #3 with different crop conditions (corresponding to WP6) available for analyses"

"Image database #1 with different crop conditions available for analyses (dependency on basic sensing hardware deliverable 2.5 in M6)"

"Image database #1 with different crop conditions available for analyses (dependency on basic sensing hardware deliverable 2.5 in M6)"

Publications

I robot, your personal assistant scout

Author(s): Balendonck J.
Published in: KAS Automatisering, 2017, Page(s) 12-13
Publisher: TuinbouwCommunicatie

Robots en el invernadero

Author(s): Balendonck J.
Published in: Revista Alimentaria, September, 2016, Page(s) 59
Publisher: Unknown

Belichting in paprika voorlopig niet aan de orde

Author(s): Van Herck L.
Published in: Proeftuinnieuws, 9, 2017, Page(s) 8-9
Publisher: R. De Vis

Aangepaste teeltmaatregelen geven meer mechanisch oogstbare paprika's

Author(s): Van Herck L., Wittemans L.
Published in: Proeftuinnieuws, 3, 2017, Page(s) 15-16
Publisher: R. De Vis

Plukrobots: The Last Frontier?

Author(s): Mulderij R.
Published in: AGF Primeur, 2, 2015, Page(s) 40-41
Publisher: AGF Primeur B.V. Tholen

Artificial 3D pepper model for harvesting robot

Author(s): R. Barth
Published in: In Greenhouses : the international magazine for greenhouse growers, 6 (3), 2017, Page(s) 47
Publisher: Horti-Text BV

Sweeper robot picks first peppers

Author(s): J. Balendonck
Published in: In Greenhouses : the international magazine for greenhouse growers, 6 (2), 2017, Page(s) 37
Publisher: Horti-Text BV

Een oogstrobot in de paprikateelt begin 2018?

Author(s): Van Herck L., Wittemans L.
Published in: Proeftuinnieuws, N°16, 2015, Page(s) 34
Publisher: R. De Vis

Hoe veilig is de kas van de toekomst?

Author(s): Balendonck J.
Published in: Kas, July, 2016, Page(s) 10-13
Publisher: TuinbouwCommunicatie

Hightech-Zentrum Bauernhof

Author(s): Fossgreen, A.
Published in: Landwirtschaft Hightech, sonntagszeitung, 2015
Publisher: unknown

World's first pepper-picking robot heralds new era.

Author(s): Gorvett, Z.
Published in: Horizon, The EU Research & Innovation Magazine, 2015
Publisher: unknown

Cross-over between high-tech and agri- & horticulture

Author(s): H. Van Eerden
Published in: Mikroniek, 6, 2017, Page(s) 5-9
Publisher: Unknonwn

Robot plukt richting praktijkrijpheid

Author(s): Unknown
Published in: Nieuwe Oogst, June, 2016, Page(s) 18-19
Publisher: AgriPers

Sweeper robot plukt eerste paprika

Author(s): J. Balendonck
Published in: Onder Glas, 14 (1), 2017, Page(s) 53
Publisher: Horti-Text BV

Kunstmatig 3D model paprika voor oogstrobot

Author(s): R. Barth
Published in: Onder Glas, 3, 2017, Page(s) 39
Publisher: Horti-Text BV

Pepper robot harvester edges closer to commercialization

Author(s): CORDIS
Published in: 2017
Publisher: Unknown

Pepper bot

Author(s): C. Oberst
Published in: The SNACK, 12, 2015, Page(s) 27-29
Publisher: Unknown

Sweeper-robot oogst zelfstandig paprika's

Author(s): P. Visser
Published in: Groenten&Fruit, 20, 2018, Page(s) 28-29
Publisher: Proagrica

Paprika’s oogsten met een robot

Author(s): J. Van Bavel
Published in: Boer&Tuinder, 28, 2018, Page(s) 32
Publisher: unknown

Sweeper-Roboter erntet gelbe Paprika

Author(s): unknown
Published in: Profiplus, 8-2018, 2018
Publisher: unknown

Pepper-picking robot demonstrates its skills in greenhouse labour automation

Author(s): unknown
Published in: CORDIS, 2018
Publisher: unknown

Wereldprimeur: oogstrobot paprika aan de slag op proefstation

Author(s): K. Blum
Published in: Proeftuinnieuws, 17, 2018, Page(s) 9-11
Publisher: R. De Vis

Mens moet paprikaplukrobot nog handje helpen

Author(s): Hanneke De Jonge
Published in: Nieuwe Oogst, 2018
Publisher: unknown

Sweeper project website

Author(s): J. Hemming
Published in: 2015
Publisher: Wageningen Research

Maak kennis met de paprikarobot

Author(s): unknown
Published in: BNR, 15/08/2016, 2016
Publisher: unknown

Eerste paprikaplukrobot kiest alleen rijpe exemplaren

Author(s): unknown
Published in: Gazet Van Antwerpen, 12/09/2018, 2018
Publisher: Mediahuis

Proefstation in Katelijne ontwikkelt paprikaplukrobot

Author(s): unknown
Published in: RTV, 12/09/2018, 2018
Publisher: unknown

De robot plukt nu ook paprika's in de kas

Author(s): unknown
Published in: De Stentor, 17/07/2018, 2018
Publisher: Persgroep Nederland BV / AD

Paprikarobot

Author(s): unknown
Published in: De Telegraaf, 28/02/2016, 2016
Publisher: De Telegraaf Media Groep

Aspergerobot stuurt steker straks naar huis

Author(s): unknown
Published in: De Volkskrant, 24/04/2017, 2017
Publisher: Persgroep Nederland BV / AD

Paprikakweker uit Koekoekspolder spil in ontwikkeling van plukrobot

Author(s): unknown
Published in: De Stentor, 06/02/2016, 2016
Publisher: Persgroep Nederland BV / AD

Wetenschappers bouwen oogstrobot voor paprika's

Author(s): unknown
Published in: AD Haagse Courant, 05/02/2015, 2015
Publisher: Persgroep Nederland BV / AD

Eerste paprikaplukrobot in ons land voorgesteld

Author(s): unknown
Published in: Het Nieuwsblad, 12/09/2018, 2018
Publisher: Mediahuis

Guided tour sweet pepper committee

Author(s): L. Van Herck
Published in: 28/03/2017, 2017
Publisher: unknown

Generatief paprika's telen onder belichting: een uitdaging

Author(s): L. Van Herck
Published in: "Symposium ""Van licht naar gewicht""", 17/01/2017, 2017
Publisher: unknown

CROPS: Clever Robots for CROPS

Author(s): J. Bontsema
Published in: Precision Farming Expo 2015, 18/03/2015, 2015
Publisher: unknown

Algorithms and Analysis of Sweet-Pepper Color Estimation

Author(s): Harel, B., Kurtser, P., Van Herck, L., Parmet, Y., Edan, Y.
Published in: ABC Sensing: from minds to machines, 29 May-1 June 2016, 2016
Publisher: unknown

Viewpoints analyses for sweet pepper detection

Author(s): P. Kurtser and Y. Edan
Published in: ABC Sensing: from minds to machines, 29 May-1 June 2016, 2016
Publisher: unknown

“Oog-in-hand” coördinatie voor het oogsten van paprika’s met de SWEEPER robot

Author(s): Balendonck, J., Barth, R., Hemming, J., van Tuijl, B., Tielen, T., Raaphorst, M.
Published in: Agro Food Robotics beur, 13-14/12/2017, 2017
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): Y. Edan
Published in: ICR2016, 13/04/2016, 2016
Publisher: unknown

Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks

Author(s): Barth, R., IJsselmuiden, J.M.M., Hemming, J., van Henten, E.J.
Published in: ROS 2017, 24-28/09/2017, 2017
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): Y. Edan
Published in: IROS, 28/09/2015, 2015
Publisher: unknown

Oogstrobot voor paprika dichterbij dan je denkt

Author(s): Van Herck L., Wittemans L.
Published in: Management&Techniek, No. 2, 2016, Page(s) 48-49
Publisher: Boerenbond

Data synthesis methods for semantic segmentation in agriculture: A Capsicum annuum dataset

Author(s): R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten
Published in: Computers and Electronics in Agriculture, 144, 2018, Page(s) 284-296, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2017.12.001

Synthetic bootstrapping of convolutional neural networks for semantic plant part segmentation

Author(s): R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten
Published in: Computers and Electronics in Agriculture, 2017, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2017.11.040

Adaptive Image Thresholding of Yellow Peppers for a Harvesting Robot

Author(s): Ostovar, A.; Ringdahl, O.; Hellström, T.
Published in: Robotics, 7/1, 2018, Page(s) 11, ISSN 2218-6581
Publisher: Unknown
DOI: 10.3390/robotics7010011

Evaluation of approach strategies for harvesting robots: Case study of sweet pepper harvesting

Author(s): Ola Ringdahl, Polina Kurtser, Yael Edan
Published in: Journal of Intelligent & Robotic Systems, 2018, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-018-0892-7

Statistical models for fruit detectability: spatial and temporal analyses of sweet peppers

Author(s): Polina Kurtser, Yael Edan
Published in: Biosystems Engineering, 171, 2018, Page(s) 272-289, ISSN 1537-5110
Publisher: Academic Press
DOI: 10.1016/j.biosystemseng.2018.04.017

Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation

Author(s): Ruud Barth, Jochen Hemming, Eldert J. van Henten
Published in: Biosystems Engineering, monthly, 2016, Page(s) not yet finally published, ISSN 1537-5110
Publisher: Academic Press
DOI: 10.1016/j.biosystemseng.2015.12.001

Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks

Author(s): Barth, R. ; IJsselmuiden, J.M.M. ; Hemming, J. ; van Henten, E.J.
Published in: Proceedings of the IEEE IROS workshop on Agricultural Robotics, 2017, Page(s) 18-22
Publisher: Unknown
DOI: 10.18174/434834

Strategies for Selecting Best Approach Direction for a Sweet-Pepper Harvesting Robot

Author(s): Ola Ringdahl, Polina Kurtser, Yael Edan
Published in: Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings, 2017, Page(s) 516-525
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-64107-2_41

Second Annual AgRA TC Lightning Round

Author(s): G. Polder
Published in: IEEE, webinar, 21/01/2016, 2016
Publisher: unknown

Robotic Data Acquisition of Sweet Pepper Images for Research and Development

Author(s): Kurtser, P., Arad, B., Ben Shahar, O., van Bree, M., Moonen, J., van Tujil, B., Edan, Y.
Published in: ICR2016, 13/04/2016, 2016
Publisher: unknown

Will robotics take horticulture production to the next level?

Author(s): J. Hemming
Published in: Indoor Ag-Con conference, 15/10/2015, 2015
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): J. Bontsema
Published in: EU Robotics Forum, 11-13/03/2015, 2015
Publisher: unknown

Robotics and mobile detection systems for high-tech greenhouse production

Author(s): J. Balendonck
Published in: GreenTech 2018, 12-14/06/2018, 2018
Publisher: unknown

Robotics, automation and ICT solutions for profitable greenhouse business

Author(s): J. Hemming
Published in: Netherlands-Japan Horticulture Seminar, Agro Innovation Fair, 05/10/2017, 2017
Publisher: unknown

Harvesting Sequence Optimization Under Partial Initial Information

Author(s): P. Kurtser
Published in: POMS2017, 27-29/06/2017, 2017
Publisher: unknown

Growing generative peppers + LED: Challenge

Author(s): L. Van Herck
Published in: Horticultural Lighting Conference, 23/05/2017, 2017
Publisher: unknown

Robotereinsatz zur automatischen Ernte von Paprika

Author(s): J. Hemming
Published in: KTBL-Tagung Robotics und Automatisierung im Gartenbau, 17-18/09/2018, 2018
Publisher: unknown

Dynamic viewpoints for autonomous pepper harvesting robot

Author(s): P. Kurtser
Published in: IROS 2018, 1-5/10/2018, 2018
Publisher: unknown

Operational flow of an autonomous sweet pepper harvesting robot

Author(s): Ringdahl, O., Kurtser, P., Barth, R., Edan, Y.
Published in: ICR2016, 13/04/2016, 2016
Publisher: unknown

A software framework for agricultural robotics using ROS

Author(s): O. Ringdahl
Published in: 04/04/2016, 2016
Publisher: unknown

A Sweet Pepper Robotic Harvester

Author(s): J. Balendonck
Published in: EU - Digitising agriculture and food value chains, 17/11/2017, 2017
Publisher: unknown

SWEEPER - De paprikaplukrobot (in Dutch)

Author(s): J. Balendonck
Published in: Machinebouw Event 2018, 6-12-2018, 2018, Page(s) 28
Publisher: FHI - Federatie van Technologiebranches

The SWEEPER-robot. Hands-free Production in High-Tech Greenhouses

Author(s): J. Balendonck
Published in: AgriFoodTech, Den Bosch (The Netherlands), 13 December 2018, 2018, Page(s) 28
Publisher: AgriFoodTech Vakbeurs & Congres

Vision principles for harvest robotics : sowing artificial intelligence in agriculture

Author(s): Ruud Barth
Published in: 2018, ISBN 978-94-6343-318-1
Publisher: Wageningen University
DOI: 10.18174/456019

Adaptive Sensing and Task Planning for an Autonomous Harvesting Robot

Author(s): Kurtser, P (2018).
Published in: Submitted on 18 October 2018, 2019
Publisher: Ben Gurion University