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Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation…
Fruit is a key crop in worldwide agriculture feeding millions of people. The standard supply chain of fruit products involves quality checks to guarantee freshness, taste, and, most of all, safety. An important factor that determines fruit…
Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Despite the success in 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects and real world scenarios. The primary bottlenecks include 1) the ambiguity…
The development of precision agriculture has gradually introduced automation in the agricultural process to support and rationalize all the activities related to field management. In particular, service robotics plays a predominant role in…
Compact and efficient 6DoF object pose estimation is crucial in applications such as robotics, augmented reality, and space autonomous navigation systems, where lightweight models are critical for real-time accurate performance. This paper…
Crops for food, feed, fiber, and fuel are key natural resources for our society. Monitoring plants and measuring their traits is an important task in agriculture often referred to as plant phenotyping. Traditionally, this task is done…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
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…
Detecting objects and estimating their viewpoints in images are key tasks of 3D scene understanding. Recent approaches have achieved excellent results on very large benchmarks for object detection and viewpoint estimation. However,…
Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…
3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…
We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…
In this paper, we tackle the challenging problem of 3D keypoint estimation of general objects using a novel implicit representation. Previous works have demonstrated promising results for keypoint prediction through direct coordinate…
The use of rendered images, whether from completely synthetic datasets or from 3D reconstructions, is increasingly prevalent in vision tasks. However, little attention has been given to how the selection of viewpoints affects the…
The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects.…
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…
This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce…