40 research outputs found
Implementations of FroboMind using the Robot Operating System framework
Several different architectures has been suggested for agricultural robotic vehicles like Agriture, The Hortibot and AgroBot linux shared memory based architecture, or the FroboMind.This work present the implementation of the latter conceptual architecture FroboMind utilising the open-source cross language robotic framework ROS.Secondly a rugged hardware platform FroboBox is presented
FieldSAFE: Dataset for Obstacle Detection in Agriculture
In this paper, we present a novel multi-modal dataset for obstacle detection
in agriculture. The dataset comprises approximately 2 hours of raw sensor data
from a tractor-mounted sensor system in a grass mowing scenario in Denmark,
October 2016. Sensing modalities include stereo camera, thermal camera, web
camera, 360-degree camera, lidar, and radar, while precise localization is
available from fused IMU and GNSS. Both static and moving obstacles are present
including humans, mannequin dolls, rocks, barrels, buildings, vehicles, and
vegetation. All obstacles have ground truth object labels and geographic
coordinates.Comment: Submitted to special issue of MDPI Sensors: Sensors in Agricultur