Visual feedback guided robotic cherry tomato harvesting

N. Kondo, Y. Nishitsuji, P. P. Ling, Kuan Chong Ting

Research output: Contribution to journalArticlepeer-review


Harvesting cherry tomatoes is more laborious than harvesting larger size tomatoes because of the high fruit density in every cluster: To save labor costs, robotic harvesting of cherry tomatoes has been studied in Japan. An effective vision algorithm, to detect positions of many small fruits, was developed for guidance of robotically harvested cherry tomatoes. A spectral reflectance in the visible region was identified and extracted to provide high contrast images for the fruit cluster identification. The 3-D position of each fruit cluster was determined using a binocular stereo vision technique. The robot harvested one fruit at a time and the position of the next target fruit was updated based on u newly acquired image and the latest manipulator position. The experimental results showed that this visual feedback control based harvesting method was effective, with a success rate of 70%.

Original languageEnglish (US)
Pages (from-to)2331-2338
Number of pages8
JournalTransactions of the American Society of Agricultural Engineers
Issue number6
StatePublished - 1996


  • Cherry tomatoes
  • Feedback control
  • Harvesting
  • Machine vision
  • Robotics
  • Visual sensor

ASJC Scopus subject areas

  • Agricultural and Biological Sciences (miscellaneous)


Dive into the research topics of 'Visual feedback guided robotic cherry tomato harvesting'. Together they form a unique fingerprint.

Cite this