Related papers: Viewpoint Planning for Fruit Size and Position Est…
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it…
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally…
In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant…
In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
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…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
As the world population is expected to reach 10 billion by 2050, our agricultural production system needs to double its productivity despite a decline of human workforce in the agricultural sector. Autonomous robotic systems are one…
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…
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…
In this paper, we present a computer vision-based approach to measure the sizes and growth rates of apple fruitlets. Measuring the growth rates of apple fruitlets is important because it allows apple growers to determine when to apply…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…