Related papers: Panoptic Mapping with Fruit Completion and Pose Es…
In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Machine vision for precision agriculture has attracted considerable research interest in recent years. The goal of this paper is to develop an end-to-end cranberry health monitoring system to enable and support real time cranberry…
Recent advancements in deep learning-based approaches have led to remarkable progress in fruit detection, enabling robust fruit identification in complex environments. However, much less progress has been made on fruit 3D localization,…
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…
Observer bias and inconsistencies in traditional plant phenotyping methods limit the accuracy and reproducibility of fine-grained plant analysis. To overcome these challenges, we developed TomatoMAP, a comprehensive dataset for Solanum…
6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…
Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…
Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in…
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)…
Panoptic segmentation in agriculture is an advanced computer vision technique that provides a comprehensive understanding of field composition. It facilitates various tasks such as crop and weed segmentation, plant panoptic segmentation,…
Global food production depends upon successful pollination, a process that relies on natural and managed pollinators. However, natural pollinators are declining due to factors such as climate change, habitat loss, and pesticide use. This…
We propose the task of forecasting characteristic 3d poses: from a short sequence observation of a person, predict a future 3d pose of that person in a likely action-defining, characteristic pose -- for instance, from observing a person…
Drought threatens food and water security around the world, and this threat is likely to become more severe under climate change. High resolution predictive information can help farmers, water managers, and others to manage the effects of…
Early-stage identification of fruit flowers that are in both opened and unopened condition in an orchard environment is significant information to perform crop load management operations such as flower thinning and pollination using…