Related papers: Combining Local and Global Viewpoint Planning for …
Robust and reliable place recognition and loop closure detection in agricultural environments is still an open problem. In particular, orchards are a difficult case study due to structural similarity across the entire field. In this work,…
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…
Accurate 3D fruit counting in orchards is challenging due to heavy occlusion, semantic ambiguity between fruits and surrounding structures, and the high computational cost of volumetric reconstruction. Existing pipelines often rely on…
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…
Visibility is a crucial aspect of planning and control of autonomous vehicles (AV), particularly when navigating environments with occlusions. However, when an AV follows a trajectory with multiple occlusions, existing methods evaluate each…
We study how to generalize the visuomotor policy of a mobile manipulator from the perspective of visual observations. The mobile manipulator is prone to occlusion owing to its own body when only a single viewpoint is employed and a…
Agriculture 3.0 and 4.0 have gradually introduced service robotics and automation into several agricultural processes, mostly improving crops quality and seasonal yield. Row-based crops are the perfect settings to test and deploy smart…
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…
Real-time simultaneous tracking of hands manipulating and interacting with external objects has many potential applications in augmented reality, tangible computing, and wearable computing. However, due to difficult occlusions, fast…
Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield estimation. However, traditional approaches that rely on manual scanning or fixed camera setups remain a major bottleneck in this…
Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…
Following crop growth through the vegetative cycle allows farmers to predict fruit setting and yield in early stages, but it is a laborious and non-scalable task if performed by a human who has to manually measure fruit sizes with a caliper…
Unwanted camera occlusions, such as debris, dust, rain-drops, and snow, can severely degrade the performance of computer-vision systems. Dynamic occlusions are particularly challenging because of the continuously changing pattern. Existing…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
Automation and robotisation of the agricultural sector are seen as a viable solution to socio-economic challenges faced by this industry. This technology often relies on intelligent perception systems providing information about crops,…
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that…