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In farming systems, harvesting operations are tedious, time- and resource-consuming tasks. Based on this, deploying a fleet of autonomous robots to work alongside farmworkers may provide vast productivity and logistics benefits. Then, an…
Apple is one of the remarkable fresh fruit that contains a high degree of nutritious and medicinal value. Hand harvesting of apples by seasonal farmworkers increases physical damages on the surface of these fruits, which causes a great loss…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
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…
Orange grading is a crucial step in the fruit industry, as it helps to sort oranges according to different criteria such as size, quality, ripeness, and health condition, ensuring safety for human consumption and better price allocation and…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Position-aided beam selection methods have been shown to be an effective approach to achieve high beamforming gain while limiting the overhead and latency of initial access in millimeter wave (mmWave) communications. Most research in the…
We propose a novel unsupervised object localization method that allows us to explain the predictions of the model by utilizing self-supervised pre-trained models without additional finetuning. Existing unsupervised and self-supervised…
Accurate identification of strawberries during their maturing stages is crucial for optimizing yield management, and pest control, and making informed decisions related to harvest and post-harvest logistics. This study evaluates the…
We introduce a new method for category-level pose estimation which produces a distribution over predicted poses by integrating 3D shape estimates from a generative object model with segmentation information. Given an input depth-image of an…
Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard's lifespan. Robot manipulators have been developed as an automated solution for…
Due to rapid population growth globally, digitally-enabled agricultural sectors are crucial for sustainable food production and making informed decisions about resource management for farmers and various stakeholders. The deployment of…
The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present…
Image-based methods to analyze food images have alleviated the user burden and biases associated with traditional methods. However, accurate portion estimation remains a major challenge due to the loss of 3D information in the 2D…
In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…
3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…
Computational tools for forecasting yields and prices for fresh produce have been based on traditional machine learning approaches or time series modelling. We propose here an alternate approach based on deep learning algorithms for…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…