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Diffusion models have emerged as effective tools for generating diverse and high-quality content. However, their capability in high-resolution image generation, particularly for panoramic images, still faces challenges such as visible seams…
Localization in agricultural environments is challenging due to their unstructured nature and lack of distinctive landmarks. Although agricultural settings have been studied in the context of object classification and segmentation, the…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…
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…
LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…
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…
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.…
Large scale monitoring systems, enabled by the emergence of networked embedded sensing devices, offer the opportunity of fine grained online spatio-temporal collection, communication and analysis of physical parameters. Various applications…
This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural…
Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning…
In commercial fruit farming, managing the light distribution through canopies is important because the amount and distribution of solar energy that is harvested by each tree impacts the production of fruit quantity and quality. It is…
This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of…
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…
Robotic harvesting of crops has the potential to disrupt current agricultural practices. A key element to enabling robotic harvesting is to safely remove the crop from the plant which often involves locating and cutting the peduncle, the…
Creating accurate 3D models of tree topology is an important task for tree pruning. The 3D model is used to decide which branches to prune and then to execute the pruning cuts. Previous methods for creating 3D tree models have typically…
Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that…
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…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
In medical image segmentation tasks, Domain Generalization (DG) under the Federated Learning (FL) framework is crucial for addressing challenges related to privacy protection and data heterogeneity. However, traditional federated learning…