Related papers: Combining Local and Global Viewpoint Planning for …
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…
Occlusions pose a significant challenge to optical flow algorithms that rely on local evidences. We consider an occluded point to be one that is imaged in the first frame but not in the next, a slight overloading of the standard definition…
Any 3D tracking algorithm has to deal with occlusions: multiple targets get so close to each other that the loss of their identities becomes likely. In the best case scenario, trajectories are interrupted, thus curbing the completeness of…
In recent years, attention mechanisms have significantly enhanced the performance of object detection by focusing on key feature information. However, prevalent methods still encounter difficulties in effectively balancing local and global…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
The dual camera system of wide-angle ($\bf{W}$) and telephoto ($\bf{T}$) cameras has been widely adopted by popular phones. In the overlap region, fusing the $\bf{W}$ and $\bf{T}$ images can generate a higher quality image. Related works…
Automating tasks in orchards is challenging because of the large amount of variation in the environment and occlusions. One of the challenges is apple pose estimation, where key points, such as the calyx, are often occluded. Recently…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
Greenhouse production of fruits and vegetables in developed countries is challenged by labor 12 scarcity and high labor costs. Robots offer a good solution for sustainable and cost-effective 13 production. Acquiring accurate spatial…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
A core component of the recent success of self-supervised learning is cropping data augmentation, which selects sub-regions of an image to be used as positive views in the self-supervised loss. The underlying assumption is that randomly…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
Automatic image cropping aims to extract the most visually salient regions while preserving essential composition elements. Traditional saliency-aware cropping methods optimize a single bounding box, making them ineffective for applications…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard's lifespan. Robot manipulators have been developed as an automated solution for…
Accurate and reliable kiwifruit detection is one of the biggest challenges in developing a selective fruit harvesting robot. The vision system of an orchard robot faces difficulties such as dynamic lighting conditions and fruit occlusions.…
Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
Training real-world neural network models to achieve high performance and generalizability typically requires a substantial amount of labeled data, spanning a broad range of variation. This data-labeling process can be both labor and cost…