Related papers: An Integrated Visual Servoing Framework for Precis…
Occlusion remains a critical challenge in robotic fruit harvesting, as undetected or inaccurately localised fruits often results in substantial crop losses. To mitigate this issue, we propose a harvesting framework using a new amodal…
Insects are the most important global pollinator of crops and play a key role in maintaining the sustainability of natural ecosystems. Insect pollination monitoring and management are therefore essential for improving crop production and…
Vision Foundation Models trained via large-scale self-supervised learning have demonstrated strong generalization in visual perception; however, their practical role and performance limits in agricultural settings remain insufficiently…
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…
The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…
Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Mobile robots are increasingly utilized in agriculture to automate labor-intensive tasks such as weeding, sowing, harvesting and soil analysis. Recently, agricultural robots have been developed to detect and remove weeds using mechanical…
Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
The US apple industry relies heavily on semi-skilled manual labor force for essential field operations such as training, pruning, blossom and green fruit thinning, and harvesting. Blossom thinning is one of the crucial crop load management…
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
The need for automated real-time visual systems in applications such as smart camera surveillance, smart environments, and drones necessitates the improvement of methods for visual active monitoring and control. Traditionally, the active…
Vision transformer (ViT) has achieved competitive accuracy on a variety of computer vision applications, but its computational cost impedes the deployment on resource-limited mobile devices. We explore the sparsity in ViT and observe that…
Weed control is a critical challenge in modern agriculture, as weeds compete with crops for essential nutrient resources, significantly reducing crop yield and quality. Traditional weed control methods, including chemical and mechanical…
In precision crop protection, (target-orientated) object detection in image processing can help navigate Unmanned Aerial Vehicles (UAV, crop protection drones) to the right place to apply the pesticide. Unnecessary application of non-target…
This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence…
Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…
Robots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…