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Active perception for robotic harvesting: 3D reconstruction and localisation of tomatoes hidden within clusters in a Mediterranean greenhouse

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Automating robotic harvesting in intensive agriculture within Mediterranean greenhouses requires overcoming significant challenges related to the geometric complexity of plants and occluded fruits. Although existing literature offers solutions targeting crops that grow in isolation (e.g., apples, sweet peppers, or peaches), the fundamental challenge lies in cluster-growing vegetables, where fixed sensors mounted on robotic systems fail to detect fruits hidden behind the visible surface. To address this limitation, this study presents a comprehensive pipeline for the 3D reconstruction and preci

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