Related papers: An Integrated Visual Servoing Framework for Precis…
Reducing the use of agrochemicals is an important component towards sustainable agriculture. Robots that can perform targeted weed control offer the potential to contribute to this goal, for example, through specialized weeding actions such…
Accurate robot localization relative to orchard row centerlines is essential for autonomous guidance where satellite signals are often obstructed by foliage. Existing sensor-based approaches rely on various features extracted from images…
Automatic monitoring of tree plantations plays a crucial role in agriculture. Flawless monitoring of tree health helps farmers make informed decisions regarding their management by taking appropriate action. Use of drone images for…
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems perform well in harvesting in uncluttered and structured…
By-tree information gathering is an essential task in precision agriculture achieved by ground mobile sensors, but it can be time- and labor-intensive. In this paper we present an algorithmic framework to perform real-time and on-the-go…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
T-Rex (The Robot for Extracting Leaf Samples) is a gantry-based robotic system developed for autonomous leaf localization, selection, and grasping in greenhouse environments. The system integrates a 6-degree-of-freedom manipulator with a…
Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
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…
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…
Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of…
Drones have revolutionized various domains, including agriculture. Recent advances in deep learning have propelled among other things object detection in computer vision. This study utilized YOLO, a real-time object detector, to identify…
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…
IoT and edge-based inference systems require unique solutions to overcome resource limitations and unpredictable environments. In this paper, we propose an environment-aware dynamic pruning system that handles the unpredictability of edge…
Application rate errors when using self-propelled agricultural sprayers for agricultural production remain a concern. Among other factors, spray boom instability is one of the major contributors to application errors. Spray booms' width of…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…