Related papers: Combining Local and Global Viewpoint Planning for …
Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…
Crop yield estimation is a relevant problem in agriculture, because an accurate yield estimate can support farmers' decisions on harvesting or precision intervention. Robots can help to automate this process. To do so, they need to be able…
Field robotic harvesting is a promising technique in recent development of agricultural industry. It is vital for robots to recognise and localise fruits before the harvesting in natural orchards. However, the workspace of harvesting robots…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to 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…
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…
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…
Computer vision methods based on convolutional neural networks (CNNs) have presented promising results on image-based fruit detection at ground-level for different crops. However, the integration of the detections found in different images,…
Occlusion remains a critical challenge in robotic fruit harvesting, as undetected or inaccurately localised fruits often results in substantial crop losses. To mitigate this issue, we propose a harvesting framework using a new amodal…
We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of images. Our pipeline works on image streams from a monocular…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…
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…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…