Three Dimensional Sensing System Using Laser Scanner

Abstract

A three-dimensional sensing system that consisted of a laser scanner and a lift wasdeveloped for agricultural robot to capture precise external information. The laser scanner wasmoved vertically by the lift to collect three-dimensional distance information around the robots. In theexperiments by using a laser scanner and a color camera, each tomato fruit in a same cluster wasdiscriminates successfully. Furthermore, the sensing system detected not only objects but alsohuman motion around a robot when infrared sensors were added to the sensing system.