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US 12,520,772 B2Granted
Leaf detection and extraction system
AssigneeThe Regents of the University of California
InventorsKonstantinos Karydis, Merrick Campbell, Amel Dechemi
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Abstract
Disclosed herein is a system and methods for leaf detection and extraction. The extracted leaf may be used for leaf water potential analysis. In some embodiments, the method comprises identifying the leaf from a point cloud based on an image, determining a pose of the leaf based on the point cloud, and cutting and storing the leaf based on the pose of the leaf.
Claims22
A computer-implemented method for collecting one or more leaves, comprising:
- receiving, from a camera, an image comprising a leaf;
- generating, based on the image, a point cloud;
- identifying a portion of the point cloud associated with the leaf;
- determining, based on the portion of the point cloud, a pose of the leaf, wherein:
- the pose comprises a position and an orientation of the leaf,
- an end-effector is aligned to the leaf based on the pose of the leaf, and
- a pneumatic subsystem is enabled;
- enclosing the leaf in a chamber of the end-effector, wherein, after the aligning the end-effector to the leaf, the chamber of the end-effector is moved toward the leaf to enclose the leaf;
- cutting, via a blade of the end-effector, a stem of the leaf;
- and
- storing the leaf in the chamber of the end-effector.
8 more elements
Dependencies are inferred from the claim text.