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Accurate and consistent fruit monitoring over time is a key step toward automated agricultural production systems. However, this task is inherently difficult due to variations in fruit size, shape, occlusion, orientation, and the dynamic…
Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
In commercial fruit farming, managing the light distribution through canopies is important because the amount and distribution of solar energy that is harvested by each tree impacts the production of fruit quantity and quality. It is…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creating these maps is…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
In farming systems, harvesting operations are tedious, time- and resource-consuming tasks. Based on this, deploying a fleet of autonomous robots to work alongside farmworkers may provide vast productivity and logistics benefits. Then, an…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
This paper proposes a variable flow control system in real time with deep learning using the segmentation of fruit trees in a pear orchard. The flow rate control in real time, undesired pressure fluctuation and theoretical modeling may…
In many robotic domains such as flexible automated manufacturing or personal assistance, a fundamental perception task is that of identifying and localizing objects whose 3D models are known. Canonical approaches to this problem include…
In this study, a robust method for 3D pose estimation of immature green apples (fruitlets) in commercial orchards was developed, utilizing the YOLO11(or YOLOv11) object detection and pose estimation algorithm alongside Vision Transformers…
Deep object detection models have achieved notable successes in recent years, but one major obstacle remains: the requirement for a large amount of training data. Obtaining such data is a tedious process and is mainly time consuming,…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…
In driving scenarios with poor visibility or occlusions, it is important that the autonomous vehicle would take into account all the uncertainties when making driving decisions, including choice of a safe speed. The grid-based perception…