Related papers: NBV-SC: Next Best View Planning based on Shape Com…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

Accurate and consistent fruit monitoring over time is a key step toward automated agricultural production systems. However, this task is inherently difficult due to variations in fruit size, shape, occlusion, orientation, and the dynamic…

We present a classification based approach for the next best view selection and show how we can plausibly obtain a supervisory signal for this task. The proposed approach is end-to-end trainable and aims to get the best possible 3D…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…

Automating the packing of objects with robots is a key challenge in industrial automation, where efficient object perception plays a fundamental role. This paper focuses on scenarios where precise 3D reconstruction is not required,…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

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…

Vision Foundation Models trained via large-scale self-supervised learning have demonstrated strong generalization in visual perception; however, their practical role and performance limits in agricultural settings remain insufficiently…

The paper presents a novel approach to occlusion handling problem in depth estimation using three views. A solution based on modification of similarity cost function is proposed. During the depth estimation via optimization algorithms like…

Labor shortages in fruit crop production have prompted the development of mechanized and automated machines as alternatives to labor-intensive orchard operations such as harvesting, pruning, and thinning. Agricultural robots capable of…

In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…

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…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

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…

Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…

Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…

We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…