A vision system based on a laser range-finder applied to robotic fruit harvesting

A. R. Jiménez*, R. Ceres, Jose L Pons

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

87 Scopus citations


This paper describes a laser-based computer vision system used for automatic fruit recognition. It is based on an infrared laser range-finder sensor that provides range and reflectance images and is designed to detect spherical objects in non-structured environments. Image analysis algorithms integrate both range and reflectance information to generate four characteristic primitives which give evidence of the existence of spherical objects. The output of this vision system includes 3D position, radius and surface reflectivity of each spherical object. It has been applied to the AGRIBOT orange harvesting robot, where it has obtained good fruit detection rates and unlikely false detections.

Original languageEnglish (US)
Pages (from-to)321-329
Number of pages9
JournalMachine Vision and Applications
Issue number6
StatePublished - Apr 2000


  • Harvesting
  • Laser-scanner
  • Range
  • Reflectance

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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