Image-based tree detection for autonomous navigation in orchards

  • V. Cadenat Univ. de Toulouse / CNRS / UPS
  • A. Durand-Petiteville UFPE
  • D. Billot Univ. de Toulouse / UPS
  • A. Villemazet CNRS / LAAS


This paper deals with the autonomous navigation problem through orchards. It highlights the different challenges arising in this particular environment and proposes an adequate framework. This latter relies on a reactive control strategy fed by visual data provided by a set of RGB-D cameras adequately positioned to enlarge the field of view. In this work, we show interest in coupling a deep learning solution for image-based detection with an existing point cloud processing algorithm to improve the overall perception. Experimental results validate the approach.
Palavras-chave: Agricultural robotics, autonomous navigation
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CADENAT, V.; DURAND-PETITEVILLE, A.; BILLOT, D.; VILLEMAZET, A.. Image-based tree detection for autonomous navigation in orchards. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 272-277.