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Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in…
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a…
Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…
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…
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…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
Using robots to harvest sweet peppers in protected cropping environments has remained unsolved despite considerable effort by the research community over several decades. In this paper, we present the robotic harvester, Harvey, designed for…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making…
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…
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
Fruit distribution is pivotal in shaping the future of both agriculture and agricultural robotics, paving the way for a streamlined supply chain. This study introduces an innovative methodology that harnesses the synergy of RGB imagery,…
The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…
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…
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…
Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring proper harvesting force. This study presents an innovative…
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it…
Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…
Maturity estimation of fruits and vegetables is a critical task for agricultural automation, directly impacting yield prediction and robotic harvesting. Current deep learning approaches predominantly treat maturity as a discrete…