IPAB Workshop - 31/10/19

Title: The TrimBot2020 Gardening Robot

Abstract: The TrimBot2020 team has been investigating the vision and robotics technologies needed for an outdoor gardening robot capable of:

1) navigating in a garden under varying lighting conditions,

2) servoing to a designated bush, and

3) pruning (if a rose bush) or trimming to shape (if a topiary bush).

We have developed a working prototype. This has required advances in

hardware: new actuators for pruning and trimming, a new mobile platform with multiple sensors and a light arm, stabilisors, and GPUs.

Software-based advances include: outdoor semantic SLAM, intrinsic images, semantic scene labelling, deep net stereo, depth fusion and cleaning, garden mapping, multi-sensor fusion (odometry, IMU, SLAM, 3D scene matching), bush shape analysis and servoed trimming, rose stem detection and servoed pruning.

And more, as one would expect after 4 years of work by 8 partners.

This talk will give a overview of the main advances by the whole project.