Related papers: Key Point-based Orientation Estimation of Strawber…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing methods for object pose estimation output a single 6D pose.…
6D pose confidence region estimation has emerged as a critical direction, aiming to perform uncertainty quantification for assessing the reliability of estimated poses. However, current sampling-based approach suffers from critical…
The use of artificial intelligence in the agricultural sector has been growing at a rapid rate to automate farming activities. Emergent farming technologies focus on mapping and classification of plants, fruits, diseases, and soil types.…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
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…
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…
Artificial intelligence applications enable farmers to optimize crop growth and production while reducing costs and environmental impact. Computer vision-based algorithms in particular, are commonly used for fruit segmentation, enabling…
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…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…
The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source…
One of the intuitive instruction methods in robot navigation is a pointing gesture. In this study, we propose a method using an omnidirectional camera to eliminate the user/object position constraint and the left/right constraint of the…
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…
Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in…
Agriculture 3.0 and 4.0 have gradually introduced service robotics and automation into several agricultural processes, mostly improving crops quality and seasonal yield. Row-based crops are the perfect settings to test and deploy smart…
3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…
In machine learning models, the estimation of errors is often complex due to distribution bias, particularly in spatial data such as those found in environmental studies. We introduce an approach based on the ideas of importance sampling to…