SANITY CHECK (cot...

When the target is farther from the camera, the RSME is higher and
the density is lower. The target was aligned as close to the center of

the FOV as possible.

RMSE (m) AND DENSITY (PIXELS / m2) FOR D415 WITH CYLINDERS
AT VARIOUS DISTANCES (INCHES)

Distance || RMSE | Density
16 1.64 3.36
20 1.97 1.61
24 1.76 1.44
28 2.18 0.91
32 1.97 0.79
36 1.89 0.61
40 2.05 0.48

© Root Al Inc. 2019 14


VIRGO THE HARVESTER

© Root Al Inc. 2019 5


EVALUATION STEP 2 (cot...

Capture pointcloud

© Root Al Inc. 2019 10


WHAT IS GOOD ENOUGH? (cot...

Intel Realsense publishes their testing methodology (RMSE of a white
wall). Other manufacturers (ZED, Asus) don’t.

https:/www.intel.com/content/dam/support/us/en/documents/emerging-
technologies/intel-realsense-technology/RealSense_DepthQualityTesting. pdf

RMSE on a white wall does not approximate our complex scene.

© Root Al Inc. 2019 7


To harvest, we need accurate
representations in 3D. USDA provides
weight (but not size) regulations so
our information was gathered from
customers. Cherry / grape tomatoes
are about 20 mm in diameter. Rows
are narrow (~1 meter wide) so any
manipulator needs to reach between
30cm and 70cm to harvest tomatoes.
Need to select a good enough camera.

© Root Al Inc. 2019 6


EVALUATION STEP 1 (col.

Capture RGB image and detect fiducials

© Root Al Inc. 2019 9


seesesstnent ie

pecaeat a tnchen

v he

michele Pratusevich
Di rector of Software



DEPTH METRICS (cot...

RMSE of pixels in the test object segment (and not anywhere else).

1 n
RMSE = — i i)?
S \ > (0; — e;)

Density of points that are on surfaces the camera should see.

. 1 ” 1 if lo; —e;|<t
Density = —
y A » {8 otherwise

0 otherwise

A= S- ae if arccos(f, +c) > 5

f €faces

© Root Al Inc. 2019

12


EVALUATION STEP 3

(COL.

Align pointcloud to 3D model, crop, and evaluate

© Root Al Inc. 2019

11


FIXTURE DESIGN

We use a Set of easily-produced 3D printed and lasercut fixtures to
measure depth quality. Simple geometries that approximate real-
world objects in manipulation environments assess depth quality
better than manufacturer metrics, which are often measured against
flat walls. Known fiducial locations make the fixtures easy to align
during processing.

© Root Al Inc. 2019


(COL.

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© Root Al Inc. 2019



USES AND EXTENSIONS rcol..

3D printing targets makes creating standard targets easy to
reproduce. More work is needed to determine optimal materials,
settings, etc. Can create targets specific to different characteristics:
« Shapes

* Sizes

* Surface colors / textures

¢ Specularity

© Root Al Inc. 2019 15


ROOT Al AND ME

5 y |

© Root Al Inc. 2019



PUNCH LINE

We use a Set of easily-produced 3D printed and lasercut fixtures to
measure depth quality. Simple geometries that approximate real-
world objects in manipulation environments assess depth quality
better than manufacturer metrics, which are often measured against
flat walls. Known fiducial locations make the fixtures easy to align
during processing.

© Root Al Inc. 2019 2


CAMERA SELECTION (cot...

RMSE (m) AND DENSITY (PIXELS / m?) FOR 3 CANDIDATE CAMERAS

Fixture Metric D415 D435 ZED Mini

Cylinders RMSE 0.00177 | 0.00200 0.00319
Density | 0.00144 | 0.00137 | 0.00197

Spheres RMSE 0.00269 | 0.00415 0.00532

Density | 0.00150 0.00098 | 0.00182

Angled plates || RMSE 0.00223 | 0.00286 0.00324
Density | 0.00145 0.00140 | 0.00223

For our application, the D415 gives the best accuracy.

© Root Al Inc. 2019 13


LEARN MORE (Cot.

¢ Github: http://github.com/root-ai/depth-quality
¢ More about Root Al: http://root-ai.com

¢ Email me: mprat@root-ai.com

¢ Paper on ArXiv:

ORS

© Root Al Inc. 2019 16