Related papers: Visual Servoing in Orchard Settings
Many everyday mobile manipulation tasks require precise interaction with small objects, such as grasping a knob to open a cabinet or pressing a light switch. In this paper, we develop Servoing with Vision Models (SVM), a closed-loop…
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
The advancements in precision agriculture are vital to support the increasing demand for global food supply. Precision spot spraying is a major step towards reducing chemical usage for pest and weed control in agriculture. A novel spot…
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing…
This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (hole), allowing a contact-free and damage-free search of the…
Manual pruning is labor intensive and represents up to 25% of annual labor costs in fruit production, notably in apple orchards and vineyards where operational challenges and cost constraints limit the adoption of large-scale machinery. In…
The farming industry constantly seeks the automation of different processes involved in agricultural production, such as sowing, harvesting and weed control. The use of mobile autonomous robots to perform those tasks is of great interest.…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…
Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing…
In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…
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…
The agricultural domain offers a working environment where many human laborers are nowadays employed to maintain or harvest crops, with huge potential for productivity gains through the introduction of robotic automation. Detecting and…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the…
Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…