iit

autonomous fruit harvesting robot

Fruit Plucking Robot Architecture

Sphere Fitting For Apple Modelling

Point Cloud

Sphere Fitting

Deep Learning Detection Results

Sample Images In The Collected Dataset

Mask R-CNN Results On Our Dataset

Raw Image

Tree and Fruit Localization

Faster R-CNN results On Our Dataset

YOLO V-5 Results On Our Dataset

Fruit Plucking Experiment

Point Cloud Simulation of Apple tree for Robot Harvesting

Home Position

Input Image

Fruit Localization

Fruit Plucking

Robot Holding Apple

Drop Localization

Real Time Results

Test Result Using Captured Image

Real Time Result Using ORBBEC Camera

2D Detected Point And Its Respective 3D Points In Different Frames

False Detection Scenario

Test Result

Team

Rohin Siddhartha P.V.

perception and simulation

Dr Radhe Shyam Sharma

control and

simulation

Sandra Cherussery

Mechanical design and control

Faculty

Dr. Laxmidar Behera

Dr Santhakumar Mohan