Integration of stereo vision system calibration and kinematic calibration for an autonomous kiwifruit harvesting system

Abstract Stereo vision system and manipulator are two major components of an autonomous fruit harvesting system. In order to raise the fruit-harvesting rate, stereo calibration kinematic significant processes improve positional accuracy This article reviews mathematics these presents integrated approach for acquiring data calibrating both kiwifruit The calibrated yields good in laboratory tests, especially individual kiwifruit. However, performance is not line with outcomes orchard field tests due cluster growing style test, calibrations reduce drop rate but it does impressively rate. Most clusters remain canopy invisibility After analyzing existing system, a future visual sensing research direction justified.