Laser-range-finder-based target detection for human-robot collaboration in hilly orchards.

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Bibliographic Details
Title:	Laser-range-finder-based target detection for human-robot collaboration in hilly orchards.
Authors:	Xiulan Bao¹ orchidbaoxl@mail.hzau.edu.cn, Xiaojie Ma¹ mxj3023@163.com, Yuxin Niu² niuyxhit@163.com, Qilin Yin¹ Y931839413@163.com, Hong Chen¹ chenhong@mail.hzau.edu.cn, Qing Wu¹ wuqing@mail.bzau.cdu.cn
Source:	International Journal of Agricultural & Biological Engineering. Apr2025, Vol. 18 Issue 2, p231-238. 8p.
Subjects:	Tree pruning, Vector data, Manual labor, Point cloud, Torso
Abstract:	Human-robot collaboration is a promising means to promote orchard intelligence and reduce the over-reliance on manual work for complex agronomic practices such as fruit tree pruning, flower and fruit thinning, and harvesting. Accurate target detection and recognition of robots on humans are the basis and prerequisite for subsequent autonomous human-robot collaboration. In this study, detection and recognition of following robots for human torso were carried out in a standardized hilly orchard. A LiDAR-based human torso detection method was proposed based on the actual orchard environment. Breakpoint detection was used to cluster and segment the point clouds, and the segmentation thresholds were determined based on experimental results. The geometric attributes of the human torso were trained in the classification detection model, resulting in the extraction of six geometric attributes of the human torso. The classification model was then trained with various combinations to obtain the optimal feature combination [girth-depth-average curvature (G-D-k)] for human torso recognition in an orchard environment. Practical experiments were carried out to validate the feasibility and accuracy of the G-D-k feature combination. The experimental results demonstrate that the G-D-k feature combination can accurately recognize human bodies in orchards. The LiDAR-based detection method can achieve relatively accurate human detection and recognition in complex orchard environments, providing a reference for target detection in human-robot collaboration in orchards. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	Human-robot collaboration is a promising means to promote orchard intelligence and reduce the over-reliance on manual work for complex agronomic practices such as fruit tree pruning, flower and fruit thinning, and harvesting. Accurate target detection and recognition of robots on humans are the basis and prerequisite for subsequent autonomous human-robot collaboration. In this study, detection and recognition of following robots for human torso were carried out in a standardized hilly orchard. A LiDAR-based human torso detection method was proposed based on the actual orchard environment. Breakpoint detection was used to cluster and segment the point clouds, and the segmentation thresholds were determined based on experimental results. The geometric attributes of the human torso were trained in the classification detection model, resulting in the extraction of six geometric attributes of the human torso. The classification model was then trained with various combinations to obtain the optimal feature combination [girth-depth-average curvature (G-D-k)] for human torso recognition in an orchard environment. Practical experiments were carried out to validate the feasibility and accuracy of the G-D-k feature combination. The experimental results demonstrate that the G-D-k feature combination can accurately recognize human bodies in orchards. The LiDAR-based detection method can achieve relatively accurate human detection and recognition in complex orchard environments, providing a reference for target detection in human-robot collaboration in orchards. [ABSTRACT FROM AUTHOR]
ISSN:	19346344
DOI:	10.25165/j.ijabe.20251802.8346