{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129970"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129970","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robotics in high tunnel agriculture: perception-driven harvesting and crop monitoring in unstructured environments","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms","abstract_has_math":false,"creators":["Shah, Poojan Kalpeshbhai"],"institution":"University of Illinois Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Krishnan, Girish"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-07-21","date_published":"2025-07-21","updated_at":"2026-07-22T22:25:06Z","subjects":["Agricultural Robotics","Robotic Harvesting","Autonomous Navigation In Agriculture","Eye-in-hand Camera Systems","Visual Servoing","Robotic Pest Inspection"],"languages":["en","eng"],"rights":["Copyright 2025 Poojan Shah"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129970","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Krishnan, Girish"]},{"key":"dc:creator","label":"Author","values":["Shah, Poojan Kalpeshbhai"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-07-21","2025-08"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Agricultural Robotics","Robotic Harvesting","Autonomous Navigation In Agriculture","Eye-in-hand Camera Systems","Visual Servoing","Robotic Pest Inspection"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025 Poojan Shah"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129970"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms","The student, Poojan Shah, accepted the attached license on 2025-07-21 at 12:04.","The student, Poojan Shah, submitted this Thesis for approval on 2025-07-21 at 12:31.","This Thesis was approved for publication on 2025-07-21 at 16:49.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22675 on 2025-10-20 at 20:15:33","Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems harvest well in uncluttered and structured environments. High tunnel environments are more compact and cluttered in nature, requiring a rethinking of the large form factor systems and grippers. We propose a novel co-designed framework incorporating a global detection camera and a local eye-in-hand camera that demonstrates precise localization of small fruits via closed-loop visual feedback and reliable error handling. The system is evaluated in both lab and high tunnel environments for berry harvesting. Second, we extend this framework to DetectCluster2Cut for peduncle-based cluster harvesting of cherry tomatoes, introducing monocular-based depth filtering and peduncle angle estimation. Finally, we propose Nav2Inspect—a navigation and inspection pipeline that integrates CropFollow++ row-following, cluster detection, multi-view close-up imaging, and a fruit-surface pest detection model including pest damages from stink bugs, stilt bugs, and caterpillars. Together, these systems lay a foundation for modular closed-loop perception and manipulation pipelines, offering scalable solutions for real-time in-field harvesting and inspection."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Robotics in high tunnel agriculture: perception-driven harvesting and crop monitoring in unstructured environments"]}]}],"canonical_facts":{"dc:contributor":["Krishnan, Girish"],"dc:creator":["Shah, Poojan Kalpeshbhai"],"dc:date":["2025-07-21","2025-08"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms","The student, Poojan Shah, accepted the attached license on 2025-07-21 at 12:04.","The student, Poojan Shah, submitted this Thesis for approval on 2025-07-21 at 12:31.","This Thesis was approved for publication on 2025-07-21 at 16:49.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22675 on 2025-10-20 at 20:15:33","Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems harvest well in uncluttered and structured environments. High tunnel environments are more compact and cluttered in nature, requiring a rethinking of the large form factor systems and grippers. We propose a novel co-designed framework incorporating a global detection camera and a local eye-in-hand camera that demonstrates precise localization of small fruits via closed-loop visual feedback and reliable error handling. The system is evaluated in both lab and high tunnel environments for berry harvesting. Second, we extend this framework to DetectCluster2Cut for peduncle-based cluster harvesting of cherry tomatoes, introducing monocular-based depth filtering and peduncle angle estimation. Finally, we propose Nav2Inspect—a navigation and inspection pipeline that integrates CropFollow++ row-following, cluster detection, multi-view close-up imaging, and a fruit-surface pest detection model including pest damages from stink bugs, stilt bugs, and caterpillars. Together, these systems lay a foundation for modular closed-loop perception and manipulation pipelines, offering scalable solutions for real-time in-field harvesting and inspection."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129970"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Poojan Shah"],"dc:subject":["Agricultural Robotics","Robotic Harvesting","Autonomous Navigation In Agriculture","Eye-in-hand Camera Systems","Visual Servoing","Robotic Pest Inspection"],"dc:title":["Robotics in high tunnel agriculture: perception-driven harvesting and crop monitoring in unstructured environments"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:06Z"}