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Modern day studies show a high degree of correlation between high yielding crop varieties and plants with upright leaf angles. It is observed that plants with upright leaf angles intercept more light than those without upright leaf angles,…
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…
Data collection for forestry, timber, and agriculture currently relies on manual techniques which are labor-intensive and time-consuming. We seek to demonstrate that robotics offers improvements over these techniques and accelerate…
Efficient deployment of deep learning models for aerial object detection on resource-constrained devices requires significant compression without com-promising performance. In this study, we propose a novel three-stage compression pipeline…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
We present an enhanced YOLOv8 real time vehicle detection and classification framework, for estimating carbon emissions in urban environments. The system enhances YOLOv8 architecture to detect, segment, and track vehicles from live traffic…
Apple(\textit{Malus domestica} Borkh.) trees are deciduous, shedding leaves each year. This process is preceded by a gradual change in leaf color from green to yellow as chlorophyll is degraded prior to abscission. The initiation and rate…
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…
Measuring tree morphology for phenotyping is an essential but labor-intensive activity in horticulture. Researchers often rely on manual measurements which may not be accurate for example when measuring tree volume. Recent approaches on…
Detection, segmentation and tracking of fruits and vegetables are three fundamental tasks for precision agriculture, enabling robotic harvesting and yield estimation applications. However, modern algorithms are data hungry and it is not…
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…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
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…
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…
This work presents a method for semantic segmentation of mango trees in high resolution aerial imagery, and, a novel method for individual crown detection of mango trees using segmentation output. Mango Tree Net, a fully convolutional…
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 estimation of total leaf area (TLA) is crucial for evaluating plant growth, photosynthetic activity, and transpiration. However, it remains challenging for bushy plants like dwarf tomatoes due to their complex canopies. Traditional…
The present study focuses on detecting the degree of deformity in fruits such as apples, mangoes, and strawberries during the process of inspecting their external quality, employing Single-Input and Multi-Input architectures based on…
Cotton harvesting is a critical phase where cotton capsules are physically manipulated and can lead to fibre degradation. To maintain the highest quality, harvesting methods must emulate delicate manual grasping, to preserve cotton's…