Development of a Tomato Harvesting Robot: Peduncle Recognition and Approaching

Supplementary video for the paper titled "Development of a Tomato Harvesting Robot: Peduncle Recognition and Approaching" (authors: N. Kounalakis, M. Kalykakis, M. Pettas, A. Makris,
M. M. Kavoussanos, M. Sfakiotakis and J. Fasoulas) that was presented at the 2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)
The paper presents the
methods and tools developed for automated tomato harvesting
by a greenhouse robot. The system is comprised of a 6-dof
manipulator arm, a custom gripping/cutting end-effector, and
a depth camera with dedicated vision processor. Deep learning
algorithms are employed to locate ripe tomatoes and their
peduncles, exploiting depth information from the acquired images
to guide the manipulator arm towards the identified cutting
points.
This research has been co-financed by the European Union
and Greek national funds through the Operational Program
"Competitiveness, Entrepreneurship and Innovation", under the
call RESEARCH - CREATE - INNOVATE, and within the
scope of the Soilless Culture Upgrade (SOUP) project.

[@SridharanVK-m8i]

Weather,It can be implemented on vertical farming?