3D global mapping of large-scale unstructured orchard integrating eye-in-hand stereo vision and SLAM

• Published in: Computers and electronics in agriculture Vol. 187; p. 106237
• Main Authors: Chen, Mingyou, Tang, Yunchao, Zou, Xiangjun, Huang, Zhaofeng, Zhou, Hao, Chen, Siyu
• Format: Journal Article
• Language: English
• Published: Amsterdam Elsevier B.V 01.08.2021; Elsevier BV
• Subjects: 3D mapping; agriculture; calibration; color; computer vision; electronics; Field of view; Fruit-picking robot; fruits; lighting; Object recognition; orchards; Picking; Robots; Simultaneous localization and mapping; SLAM; Stereo matching; Stereo vision; vision; Vision systems; SLAM; Fruit-picking robot; Stereo vision; Stereo matching; 3D mapping

•A new form of orchard mapping framework integrating eye-in-hand stereovision and SLAM is proposed.•Large-scale, high-accuracy, and detailed global maps supporting high-quality orchard picking are obtained.•The proposed hand-eye calibration method is efficient and beats the compared methods.•The pro...