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Vision perception and modelling are the essential tasks of robotic harvesting in the unstructured orchard. This paper develops a framework of visual perception and modelling for robotic harvesting of fruits in the orchard environments. The…
As technology progresses, smart automated systems will serve an increasingly important role in the agricultural industry. Current existing vision systems for yield estimation face difficulties in occlusion and scalability as they utilize a…
Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…
Homography estimation is the task of determining the transformation from an image pair. Our approach focuses on employing detector-free feature matching methods to address this issue. Previous work has underscored the importance of…
The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
Offline Handwritten Mathematical Expression Recognition (HMER) has been dramatically advanced recently by employing tree decoders as part of the encoder-decoder method. Despite the tree decoder-based methods regard the expressions as a tree…
We introduce an approach for updating older tree inventories with geographic coordinates using street-level panorama images and a global optimization framework for tree instance matching. Geolocations of trees in inventories until the early…
The collection of a high number of pixel-based labeled training samples for tree species identification is time consuming and costly in operational forestry applications. To address this problem, in this paper we investigate the…
Accurate estimation of plant skeletal structure (e.g., branching structure) from images is essential for smart agriculture and plant science. Unlike human skeletons with fixed topology, plant skeleton estimation presents a unique challenge,…
Healthy urban forests comprising of diverse trees and shrubs play a crucial role in mitigating climate change. They provide several key advantages such as providing shade for energy conservation, and intercepting rainfall to reduce flood…
We consider drawings of graphs in the plane in which vertices are assigned distinct points in the plane and edges are drawn as simple curves connecting the vertices and such that the edges intersect only at their common endpoints. There is…
The size of 3D models used on the web or stored in databases is becoming increasingly high. Then, an efficient method that allows users to find similar 3D objects for a given 3D model query has become necessary. Keywords and the geometry of…
Machine vision is a critical subsystem for enabling robots to be able to perform a variety of tasks in orchard environments. However, orchards are highly visually complex environments, and computer vision algorithms operating in them must…
X-ray angiography is widely used in cardiac interventions to visualize coronary vessels, assess integrity, detect stenoses and guide treatment. We propose a framework for reconstructing 3D vessel trees from biplanar X-ray images which are…
This work proposes a multi-task fully convolutional architecture for tree species mapping in dense forests from sparse and scarce polygon-level annotations using hyperspectral UAV-borne data. Our model implements a partial loss function…
Approximate distance estimation can be used to determine fundamental landscape properties including complexity and openness. We show that variations in the skyline of landscape photos can be used to estimate distances to trees on the…
Underwater Monocular Depth Estimation (UMDE) is a critical task that aims to estimate high-precision depth maps from underwater degraded images caused by light absorption and scattering effects in marine environments. Recently, Mamba-based…
Monitoring forest dynamics at an individual tree scale is essential for accurately assessing ecosystem responses to climate change, yet traditional methods relying on field-based forest inventories are labor-intensive and limited in spatial…
Ground vehicles equipped with monocular vision systems are a valuable source of high resolution image data for precision agriculture applications in orchards. This paper presents an image processing framework for fruit detection and…