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1. Cuevas-Velasquez, Hanz; Gallego, Antonio-Javier; Tylecek, Radim; Hemming, Jochen; van Tuijl, Bart; Mencarelli, Angelo; Fisher, Robert B.
   "Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm"
   International Conference on Robotics and Automation (ICRA), Paris, France (2020)
   : bibtex
   Abstract:

   The paper presents a working pipeline which integrates hardware and software in an automated robotic rose cutter. To the best of our knowledge, this is the first robot able to prune rose bushes in a natural environment. Unlike similar approaches like tree stem cutting, the proposed method does not require to scan the full plant, have multiple cameras around the bush, or assume that a stem does not move. It relies on a single stereo camera mounted on the end-effector of the robot and real-time visual servoing to navigate to the desired cutting location on the stem. The evaluation of the whole pipeline shows a good performance in a garden with unconstrained conditions, where finding and approaching a specific location on a stem is challenging due to occlusions caused by other stems and dynamic changes caused by the wind.

@inproceedings {
 author = "Cuevas-Velasquez, Hanz; Gallego, Antonio-Javier; Tylecek, Radim; Hemming, Jochen; van Tuijl, Bart; Mencarelli, Angelo; Fisher, Robert B.",
 title  = "Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm",
 address = "Paris, France",
 booktitle = "International Conference on Robotics and Automation (ICRA)",
 publisher = "IEEE",
 year = "2020"
}