20.500.12556/RUL-189406 Autonomous tomato harvesting robot using YOLO model Avtonomni robot za obiranje paradižnika z uporabo modela YOLO Manually harvesting tomatoes is costly and time-consuming. This work proposes a tomato-harvesting robot to solve the time lapse. This work centers on the motion integration of a four-wheel steering system for robots. A collection of 1268 photos of ripe and unripe tomatoes was assembled in this work. By applying image preprocessing methods such as rotation, flipping, and resizing, we have increased and improved the size and quality of the dataset. The two primary components of our study are location detection and tomato identification. The former uses a focal length stereo vision cam-era to estimate tomatoes’ depth and stream live video in real time. We compute the 3D position and angle of the robotic arm through servo motors to reach target points using inverse kinematics. With 94 % harvesting efficiency, our system harvests ripe tomatoes in less than 8 seconds and stores them in a storage tank. For the detection and classification of ripe and un-ripe tomatoes, YOLOv5s, YOLOv8s, YOLOv9s, and YOLOv10s were used. Accuracy, precision, and recall were used to evaluate model performance; YOLOv8s is found to have the best evalu-ation metrics. inverse kinematics stereo vision tomato harvesting robot YOLO inverzna kinematika stereo vid robot za obiranje paradižnikov true false true Angleški jezik Slovenski jezik Članek v reviji 2026-10-06 12:15:01 2026-10-06 12:15:10 2026-10-09 03:26:44 0000-00-00 00:00:00 2026 0 0 12 str. no. 3 Vol. 122 2026 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 635 1854-1941 10.14720/aas.2026.122.3.21385 293853443 IQBAL+et+al.+(M).pdf IQBAL+et+al.+(M).pdf 1 7AF453063CE36DC3EA9DF7C174AE570C 8a9169bb2cb345f68c2226a266fdabe0ede15e988e7b233a17a5c277d705d4e8 7b11d84a-c16f-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=249915 https://journals.uni-lj.si/aas/article/view/21385/22605 1 afb7de36-c16e-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=249913 Biotehniška fakulteta Acta agriculturae Slovenica 0 0 0