Related papers: Panoptic Mapping with Fruit Completion and Pose Es…
We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also estimate key phenotypic parameters. To achieve this we…
The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful…
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…
Smart farming is a growing field as technology advances. Plant characteristics are crucial indicators for monitoring plant growth. Research has been done to estimate characteristics like leaf area index, leaf disease, and plant height.…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
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…
Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks.…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…
Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…
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…
Automation and robotisation of the agricultural sector are seen as a viable solution to socio-economic challenges faced by this industry. This technology often relies on intelligent perception systems providing information about crops,…
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…
Automating the detection of fruits and vegetables using computer vision is essential for modernizing agriculture, improving efficiency, ensuring food quality, and contributing to technologically advanced and sustainable farming practices.…
Accurate 6D pose estimation for robotic harvesting is fundamentally hindered by the biological deformability and high intra-class shape variability of agricultural produce. Instance-level methods fail in this setting, as obtaining exact 3D…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…