Please use this identifier to cite or link to this item:
https://doi.org/10.21256/zhaw-22586Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Borla, Nicolas | - |
| dc.contributor.author | Kuster, Fabian | - |
| dc.contributor.author | Langenegger, Jonas | - |
| dc.contributor.author | Ribera, Juan | - |
| dc.contributor.author | Honegger, Marcel | - |
| dc.contributor.author | Toffetti, Giovanni | - |
| dc.date.accessioned | 2021-06-03T14:04:18Z | - |
| dc.date.available | 2021-06-03T14:04:18Z | - |
| dc.date.issued | 2021-05-20 | - |
| dc.identifier.uri | https://digitalcollection.zhaw.ch/handle/11475/22586 | - |
| dc.description.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. | de_CH |
| dc.language.iso | en | de_CH |
| dc.publisher | ZHAW Zürcher Hochschule für Angewandte Wissenschaften | de_CH |
| dc.rights | Not specified | de_CH |
| dc.subject | Computer science | de_CH |
| dc.subject | Robotics | de_CH |
| dc.subject.ddc | 621.3: Elektro-, Kommunikations-, Steuerungs- und Regelungstechnik | de_CH |
| dc.title | Teat pose estimation via RGBD segmentation for automated milking | de_CH |
| dc.type | Konferenz: Paper | de_CH |
| dcterms.type | Text | de_CH |
| zhaw.departement | School of Engineering | de_CH |
| zhaw.organisationalunit | Institut für Informatik (InIT) | de_CH |
| zhaw.organisationalunit | Institut für Mechatronische Systeme (IMS) | de_CH |
| dc.identifier.doi | 10.21256/zhaw-22586 | - |
| zhaw.conference.details | Task-Informed Grasping: Agri-Food manipulation (TIG-III) Workshop at ICRA 2021, Xi’an, China, 30 May - 5 June 2021 | de_CH |
| zhaw.funding.eu | No | de_CH |
| zhaw.originated.zhaw | Yes | de_CH |
| zhaw.publication.status | acceptedVersion | de_CH |
| zhaw.publication.review | Peer review (Publikation) | de_CH |
| zhaw.webfeed | Service Engineering | de_CH |
| zhaw.author.additional | No | de_CH |
| zhaw.display.portrait | Yes | de_CH |
| 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 |
Show simple item record
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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