Related papers: Visual Servoing in Orchard Settings
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
Use of sensors and related analytical predictions can be a powerful tool in providing data-informed input to viticulturalists' decision process, complementing their vineyard observations and intuition. Their up-to-date measurements,…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
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…
Searching and detecting the task-relevant parts of plants is important to automate harvesting and de-leafing of tomato plants using robots. This is challenging due to high levels of occlusion in tomato plants. Active vision is a promising…
Insects are the most important global pollinator of crops and play a key role in maintaining the sustainability of natural ecosystems. Insect pollination monitoring and management are therefore essential for improving crop production and…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…
Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. This paper introduces an efficient end-to-end robotic system…
Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined…
Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…
This study addresses the demand for real-time detection of tomatoes and tomato flowers by agricultural robots deployed on edge devices in greenhouse environments. Under practical imaging conditions, object detection systems often face…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
The problem of multi-object tracking (MOT) consists in detecting and tracking all the objects in a video sequence while keeping a unique identifier for each object. It is a challenging and fundamental problem for robotics. In precision…
The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present…
Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…
Robotic harvesting of fruits in orchards is a challenging task, since high density and overlapping of fruits and branches can heavily impact the success rate of robotic harvesting. Therefore, the vision system is demanded to provide…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…