{"id":180,"date":"2022-12-15T19:39:37","date_gmt":"2022-12-15T19:39:37","guid":{"rendered":"https:\/\/labs.ri.cmu.edu\/kantorlab\/?p=180"},"modified":"2023-02-16T10:15:28","modified_gmt":"2023-02-16T15:15:28","slug":"tomato-gantry","status":"publish","type":"post","link":"https:\/\/labs.ri.cmu.edu\/kantorlab\/tomato-gantry\/","title":{"rendered":"Tomato Gantry: T-REX and Disease Detection"},"content":{"rendered":"\t\t
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\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\tTomato Gantry\t\t\t<\/span>\n\t\t\t\t\t\n\t\t\t\tT- Rex\t\t\t<\/span>\n\t\t\t\t\t\n\t\t\t\tDisease Detection\t\t\t<\/span>\n\t\t\t\t\t\t<\/span>\n\t\t\t\t<\/h2>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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Robot for Extracting DNA Samples from Tomato plants<\/span><\/div>
\u00a0<\/div>
NIFA
VaTech<\/div>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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The Gantry was the platform for multiple projects: T-REX, Disease Detection and ...<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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T-REX: Robot for Extracting DNA Samples from Tomato plants<\/h4>
This project is a collaboration between CMU and Virginia Tech to automate the process of extracting DNA samples from tomato plants for disease study. The gantry like platform is a custom-built robot with 6 Degrees of Freedom robotic arm, custom imaging systems, gripper, growth lights, and growth bed to grow, monitor, 3d modeling for intelligent robot-canopy interaction and data collection.<\/div>
\u00a0<\/div>

Gantry Robot Platform<\/h4>

Research Effort:<\/u><\/strong><\/p>

My research effort was in the design and development of the 3DoF end effector attached to the Gantry robot. Once a working prototype of the grab-and-cut end effector was made, the objective shifted to 3D reconstruction of plants (on a Gantry robot by taking multi-view images using a stereo camera) and grasping control. The stereo images were processed from the Rosbag files to create disparity images using a Deep learning-based approach called RAFT-Stereo. These disparity images were in turn used to create point cloud models of each disparity. These models were fused to provide a more detailed point cloud, capturing all 6 different views for each plant. Leaf segmentation was done to identify the top N leaves of each plant sorted by size. These were filtered to get individual leaf point clouds. Ransac best-fit plane method was employed to obtain the plane of the leaf and estimate its pose. This pose was used to compute desired end effector pose.<\/p>

Current Status:<\/u><\/strong><\/p>

Currently, the pipeline created is able to process rosbag files containing the stereo images, produce the disparity images using RAFT-Stereo and produce the raw point clouds from the disparity. These point clouds undergo pre-processing and filtering. Segmenting the leaves and obtaining the end effector pose is also done. The next stage is to control the robot grasping and refine the process.<\/p>

Sponsors:<\/u><\/strong><\/p>

Partners: VirginiaTech, who are concerned with disease detection of the sampled leaves<\/p>

Project Objective: The goal of the project is early-stage disease detection in young tomato plants. The plants are grown on a \u201cGantry\u201d table, where the Gantry robot is a Cartesian robot capable of traversing in X, Y and Z axes. In addition, a 3DoF end-effector is attached to the Z-axis. This end effector consists of a stereo camera and a \u201cgripper\u201d that can grip and cut tomato leaves for sampling purpose. These leaves are then dropped to a specific location on the table, where (genome sequencing?) is carried out to analyze the leaf for (leaf spot?) disease.<\/p><\/div>

\u25cbSponsor: NIFA<\/div>
\u25cbPartner: Virginia Tech (PI Song Li)<\/div>
\u25cbOverall Goal: Early-stage plant disease detection in young tomato plants using autonomous Gantry robot with image collection, leaf sampling and genome sequencing capabilities<\/div>
\u25cbCMU Goal: Robotic platform capable of autonomous multi-view imaging, point cloud processing and leaf grasping and cutting capabilities<\/div>
\u25a0Build robot: Jim, Abhi<\/div>
\u25a0Build End effector: Abhi<\/div>
\u25a03D Reconstruction: Sohan<\/div>
\u25a0Leaf Sampling: Abhi, Sohan<\/div>
\u25cbPeople: Abhi (lead), Jim, Sohan<\/div>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

The Gantry was the platform for multiple projects including the T-REX Disease Detection project.<\/p>\n","protected":false},"author":2,"featured_media":192,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[],"class_list":["post-180","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-projects"],"yoast_head":"\nTomato Gantry: T-REX and Disease Detection - Kantor Lab<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/labs.ri.cmu.edu\/kantorlab\/tomato-gantry\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Tomato Gantry: T-REX and Disease Detection - Kantor Lab\" \/>\n<meta property=\"og:description\" content=\"The Gantry was the platform for multiple projects including the T-REX Disease Detection project.\" \/>\n<meta property=\"og:url\" content=\"https:\/\/labs.ri.cmu.edu\/kantorlab\/tomato-gantry\/\" \/>\n<meta property=\"og:site_name\" content=\"Kantor Lab\" \/>\n<meta property=\"article:published_time\" content=\"2022-12-15T19:39:37+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2023-02-16T15:15:28+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/labs.ri.cmu.edu\/kantorlab\/wp-content\/uploads\/sites\/29\/2022\/12\/gantry-tomato-kantorlab-web.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"2400\" \/>\n\t<meta property=\"og:image:height\" content=\"1412\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"bstaszel\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"bstaszel\" \/>\n\t<meta name=\"twitter:label2\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data2\" content=\"3 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/\"},\"author\":{\"name\":\"bstaszel\",\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/#\\\/schema\\\/person\\\/927370540dbdb2168a8dafc93bc20ebc\"},\"headline\":\"Tomato Gantry: T-REX and Disease Detection\",\"datePublished\":\"2022-12-15T19:39:37+00:00\",\"dateModified\":\"2023-02-16T15:15:28+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/\"},\"wordCount\":520,\"image\":{\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/wp-content\\\/uploads\\\/sites\\\/29\\\/2022\\\/12\\\/gantry-tomato-kantorlab-web.jpg\",\"articleSection\":[\"Projects\"],\"inLanguage\":\"en-US\"},{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/\",\"url\":\"https:\\\/\\\/labs.ri.cmu.edu\\\/kantorlab\\\/tomato-gantry\\\/\",\"name\":\"Tomato Gantry: T-REX and Disease Detection - 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