Table 7.

Harvesting agrirobotic systems’ features for various crops.

Crop	Perception	Fastest Picking Speed	Highest Picking Rate	Cited Work
alfalfa, sudan	Color camera, gyroscope	2 ha/h (alfalfa)	N/A	[123]
apple tree	Color camera, time of flight based three dimensional camera	7.5 sec/fruit	84%	[103]
apple tree	Color CCD (Charge Coupled Device) camera, laser range sensor	7.1 sec/fruit	89%	[105]
apple tree	High-frequency light, camera	9 sec/fruit	80%	[104]
cherry	3D vision sensor with red, IR laser diodes, pressure sensor	14 sec/fruit	N/A	[113]
mushroom	Laser sensor, vision sensor	6.7 sec/mushroom	69%	[124]
asparagus	3D vision sensor with two sets of slit laser projectors & a TV camera	13.7 sec/asparagus	N/A	[118]
strawberry	Sonar camera sensor, binocular camera	31.3 sec/fruit	86%	[94]
strawberry	Color CCD cameras, reflection-type photoelectric sensor	8.6 sec/fruit	54.9%	[92]
strawberry	LED light source, three-color CCD cameras, photoelectric sensor, suction device	11.5 sec/fruit	41.3% with a suction device 34.9% without it	[98]
strawberry	Color CCD camera, visual sensor	10 sec/fruit	N/A	[97]
strawberry	Three VGA (Video Graphics Array) class CCD color cameras (stereo vision system and center camera)	N/A	46%	[99]
strawberry	RGB-D camera, 3 IR sensors	10.6 sec/fruit	53.6%	[95]
tomato	Stereo camera, playstation camera	23 sec/tomato	60%	[107]
tomato	Binocular stereo vision system, laser sensor	15 sec/tomato	86%	[108]
cherry tomato	Camera, laser sensor	8 sec/tomato bunch	83%	[109]
cucumber	Two synchronized CCD cameras	45 sec/cucumber	80%	[115]
various fruits	Pressure sensor, 2 convergent IR sensors, telemeter, cameras	2 sec/fruit (only grasp & detach)	N/A	[114]
melon	Two black and white CCD cameras, proximity sensor, far and near vision sensors	15 sec/fruit	85.67%	[121]
eggplant	Single CCD camera, photoelectric sensor	64.1 sec/eggplant	62.5%	[116]
watermelon	Two CCD cameras, vacuum sensor	N/A	66.7%	[122]