3-D image recognition for farm automation

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Research on image recognition of 3-D image sensors was carried out for agricultural robots. For the strawberry-harvesting robot, two types of imaging system were used. One was a 3-D vision sensor that emitted laser beams of three different wavelengths (red, green and blue) to obtain a range image and a color image. And the other imaging system consisted of a color camera to get a color image and a 3-D vision sensor that emitted an infrared laser to get a range image. For a tomato-harvesting robot, a 3-D vision sensor was used that emitted an infrared laser beam and a red laser beam. Red omato fruits, stems and leaves were recognized by the image from the vision sensor.