Related papers: Autonomous Apple Fruitlet Sizing with Next Best Vi…
In this paper, we present a computer vision-based approach to measure the sizes and growth rates of apple fruitlets. Measuring the growth rates of apple fruitlets is important because it allows apple growers to determine when to apply…
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally…
Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that…
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…
In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…
Aotearoa New Zealand has a strong and growing apple industry but struggles to access workers to complete skilled, seasonal tasks such as thinning. To ensure effective thinning and make informed decisions on a per-tree basis, it is crucial…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
The localization of fruits is an essential first step in automated agricultural pipelines for yield estimation or fruit picking. One example of this is the localization of apples in images of entire apple trees. Since the apples are very…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
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…
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…
This work presents an Artificial Intelligence (AI) system, based on the Faster Region-Based Convolution Neural Network (Faster R-CNN) framework, which detects and counts apples from oblique, aerial drone imagery of giant commercial…
As the world population is expected to reach 10 billion by 2050, our agricultural production system needs to double its productivity despite a decline of human workforce in the agricultural sector. Autonomous robotic systems are one…
In this paper, we present a transformer-based method to spatio-temporally associate apple fruitlets in stereo-images collected on different days and from different camera poses. State-of-the-art association methods in agriculture are…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in automated harvesting offer a promising solution by enabling…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…