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Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAP for robotized harvesting

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Advanced crop monitoring inside greenhouses is becoming one of the primary objectives of research centers. High-performance sensors, such as LiDAR or stereo cameras, have traditionally been employed for this purpose, though these often have a high cost. This work proposes a Visual-SLAM system using a monocular camera, which is significantly more cost-effective and specifically tailored for agricultural applications, such as mapping tomato crops in a greenhouse. Tests were carried out on a real tomato bunch, located in the Agroconnect experimental greenhouse. A ROS 2 Humble node was developed t

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