Table 6 Relevant parameters of the camera.

From: Design of tomato picking robot detection and localization system based on deep learning neural networks algorithm of Yolov5

3D Coordinate

Actual distance (mm)

Measuring distance (mm)

Time (s)

[− 1.477643, 4.66101, 271.7451]

270

273.10

1.28

[− 0.2893859, − 3.4205542, 271.81653]

270

273.10

1.16

[6.3353934 ,1.0908514, 270.46597]

270

272.03

1.16

[− 5.871341 ,13.967583 ,277.20767]

270

278.58

1.21

[− 34.47352, − 16.415775, 291.50558]

300

292.69

1.31

[23.08946, − 6.4148884, 300.74493]

300

302.91

1.51

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