@inproceedings{5191b4a215ab4670a8ed30ad2f2cec6b,
title = "Autonomous oil palm harvesting robot with tree-Trunk-image-based visual servoing and navigation framework",
abstract = "The Malaysian oil palm industry faces significant challenges in automating harvesting due to labour shortages. Therefore, oil palm Fresh Fruit Bunch (FFB) autonomous robot harvesting is embraced for sustainability in the industry. Conventional SLAM-based navigation is computationally intensive and unsuitable for large, constantly changing plantations. This work introduces an eye-in-hand Image-Based Visual Servoing (IBVS) navigation framework that leverages tree trunk tracking for autonomous oil palm harvesting. Experimental evaluation shows YOLOv10x achieved the best detection performance with mAP@50 of 0.46048, enabling reliable trunk detection and navigation. This research also addresses the ESG sustainability needs of the oil palm industry.",
keywords = "Autonomous Robot, Deep Learning, Harvesting, Image Processing, Navigation, Oil Palm, Visual Servoing",
author = "Tang, \{Tiong Yew\} and Ho, \{Chian C.\}",
note = "Publisher Copyright: {\textcopyright} COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.; International Workshop on Advanced Imaging Technology, IWAIT 2026 ; Conference date: 12-01-2026 Through 14-01-2026",
year = "2026",
month = feb,
day = "27",
doi = "10.1117/12.3102479",
language = "English",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Masayuki Nakajima and Chuan-Yu Chang and Chien-Chou Lin and Shogo Tokai and Kwang-Deok Seo and Chia-Hung Yeh and Budianto Tandianus",
booktitle = "International Workshop on Advanced Imaging Technology, IWAIT 2026",
}