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https://doi.org/10.21256/zhaw-22586| Publication type: | Conference paper |
| Type of review: | Peer review (publication) |
| Title: | Teat pose estimation via RGBD segmentation for automated milking |
| Authors: | Borla, Nicolas Kuster, Fabian Langenegger, Jonas Ribera, Juan Honegger, Marcel Toffetti, Giovanni |
| et. al: | No |
| DOI: | 10.21256/zhaw-22586 |
| Conference details: | Task-Informed Grasping: Agri-Food manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021 |
| Issue Date: | 20-May-2021 |
| Publisher / Ed. Institution: | ZHAW Zürcher Hochschule für Angewandte Wissenschaften |
| Language: | English |
| Subjects: | Computer science; Robotics |
| Subject (DDC): | 621.3: Electrical, communications, control engineering |
| Abstract: | We present initial results in the development of a novel robot using RGBD cameras, image segmentation, and a simple teat pose estimation algorithm for automated milking. We relate on the analysis of the accuracy of different commercial RGBD cameras in realistic conditions. Although preliminary, our initial implementation shows that 2D image segmentation combined with point cloud processing can achieve repeatable millimeter-scale precision in estimating (synthetic) teat tip positions and cup attachment approach. The solution is also applicable in a cloud robotics setup, with GPU-based segmentation executed on an edge device or cloud. |
| URI: | https://digitalcollection.zhaw.ch/handle/11475/22586 |
| Fulltext version: | Accepted version |
| License (according to publishing contract): | Not specified |
| Departement: | School of Engineering |
| Organisational Unit: | Institute of Computer Science (InIT) Institute of Mechatronic Systems (IMS) |
| Appears in collections: | Publikationen School of Engineering |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 2021_Borla-etal_Teat-pose-estimation-RGBD-segmentation.pdf | Accepted Version | 2.14 MB | Adobe PDF |  View/Open |
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Borla, N., Kuster, F., Langenegger, J., Ribera, J., Honegger, M., & Toffetti, G. (2021, May 20). Teat pose estimation via RGBD segmentation for automated milking. Task-Informed Grasping: Agri-Food Manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021. https://doi.org/10.21256/zhaw-22586
Borla, N. et al. (2021) ‘Teat pose estimation via RGBD segmentation for automated milking’, in Task-Informed Grasping: Agri-Food manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021. ZHAW Zürcher Hochschule für Angewandte Wissenschaften. Available at: https://doi.org/10.21256/zhaw-22586.
N. Borla, F. Kuster, J. Langenegger, J. Ribera, M. Honegger, and G. Toffetti, “Teat pose estimation via RGBD segmentation for automated milking,” in Task-Informed Grasping: Agri-Food manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021, May 2021. doi: 10.21256/zhaw-22586.
BORLA, Nicolas, Fabian KUSTER, Jonas LANGENEGGER, Juan RIBERA, Marcel HONEGGER und Giovanni TOFFETTI, 2021. Teat pose estimation via RGBD segmentation for automated milking. In: Task-Informed Grasping: Agri-Food manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021. Conference paper. ZHAW Zürcher Hochschule für Angewandte Wissenschaften. 20 Mai 2021
Borla, Nicolas, Fabian Kuster, Jonas Langenegger, Juan Ribera, Marcel Honegger, and Giovanni Toffetti. 2021. “Teat Pose Estimation via RGBD Segmentation for Automated Milking.” Conference paper. In Task-Informed Grasping: Agri-Food Manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021. ZHAW Zürcher Hochschule für Angewandte Wissenschaften. https://doi.org/10.21256/zhaw-22586.
Borla, Nicolas, et al. “Teat Pose Estimation via RGBD Segmentation for Automated Milking.” Task-Informed Grasping: Agri-Food Manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021, ZHAW Zürcher Hochschule für Angewandte Wissenschaften, 2021, https://doi.org/10.21256/zhaw-22586.
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