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arXiv · 2609.11766

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

Fernando Cañadas-Aránega·José C. Moreno·José L. Blanco-Claraco·Francisco Rodríguez
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Abstract

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 to run on the robot in order to capture images of these crops, which were then stored for offline processing. To generate a 3D mapped model for the crop in the greenhouse, the GLOMAP mapper, based on Structure-From-Motion, was integrated with the Hierarchical Localization toolbox. This initial mapping is a foundation for future, more advanced algorithms to analyze growth patterns, and optimize agricultural management. The system leverages a hierarchical localization paradigm based on a coarse-to-fine strategy: it first performs global retrieval to generate location hypotheses, then combines local features within the identified candidate regions. The results show a correct identification of the tomato cluster, correctly characterising the tomato that is occluded and inaccessible by classical vision technologies. The reconstructed 3D model was further validated against manual ground-truth measurements of fruit size, centroid position, and orientation, confirming the geometric accuracy of the proposed low-cost monocular pipeline.

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Fernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco, Francisco Rodríguez. 2026-09-11. Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAP for robotized harvesting. https://arxiv.org/abs/2609.11766

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