Related papers: Panoptic Mapping with Fruit Completion and Pose Es…
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…
In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower…
The creation of precise and high-resolution crop point clouds in agricultural fields has become a key challenge for high-throughput phenotyping applications. This work implements a novel calibration method to calibrate the laser scanning…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…
Semantic maps are fundamental for robotics tasks such as navigation and manipulation. They also enable yield prediction and phenotyping in agricultural settings. In this paper, we introduce an efficient and scalable approach for active…
Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…
Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Agricultural robotics is gaining increasing relevance in both research and real-world deployment. As these systems are expected to operate autonomously in more complex tasks, the availability of representative real-world datasets becomes…
Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…
Plants are dynamic organisms and understanding temporal variations in vegetation is an essential problem for robots in the wild. However, associating repeated 3D scans of plants across time is challenging. A key step in this process is…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
Occlusion remains a critical challenge in robotic fruit harvesting, as undetected or inaccurately localised fruits often results in substantial crop losses. To mitigate this issue, we propose a harvesting framework using a new amodal…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
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…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
With the need to feed a growing world population, the efficiency of crop production is of paramount importance. To support breeding and field management, various characteristics of the plant phenotype need to be measured -- a time-consuming…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…