Single RGB-Depth Camera + ArUco Marker

• Low-cost solution achieving ±2 cm pose error using just one camera and markers.
• Deep-learning visual-odometry module recalculates paths every 0.1 s for real-time response.
• 70 % cheaper than LiDAR and reliable in aisles narrower than 1 m.

YOLO v8 2D-Depth Fusion Vision

• Combines 2D bounding boxes with depth maps to compute true size & volume.
• Trained on 20 k labelled images, reaching F1 score 0.92.
• Runs in 25 ms per frame, classifies ripeness & defects in real time.

7-DoF Arm + Dual-Stage Soft Gripper

• Elastic TPU gripper keeps contact force below 5 N, ensuring fruit damage <1 %.
• Dual cutters separate stem & leaves, minimising wound area.
• Force-torque sensors and vision feedback auto-correct trajectories, zero re-calibration across cultivars.

Mecanum-Wheel Crab Chassis

• Keep alignment on rails, free XY motion off-rails for any terrain.
• Crab mode 0.5 m turning radius, safety sensors stop within 0.2 s to protect workers.