Related papers: GS-NBV: a Geometry-based, Semantics-aware Viewpoin…
Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
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…
Vision perception and modelling are the essential tasks of robotic harvesting in the unstructured orchard. This paper develops a framework of visual perception and modelling for robotic harvesting of fruits in the orchard environments. The…
UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…
Computer vision methods based on convolutional neural networks (CNNs) have presented promising results on image-based fruit detection at ground-level for different crops. However, the integration of the detections found in different images,…
While 6D object pose estimation has recently made a huge leap forward, most methods can still only handle a single or a handful of different objects, which limits their applications. To circumvent this problem, category-level object pose…
In agricultural environments, viewpoint planning can be a critical functionality for a robot with visual sensors to obtain informative observations of objects of interest (e.g., fruits) from complex structures of plant with random…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…
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…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
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…
Estimating accurate and reliable fruit and vegetable counts from images in real-world settings, such as orchards, is a challenging problem that has received significant recent attention. Estimating fruit counts before harvest provides…
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…
We propose a geometry-based grasping method for vine tomatoes. It relies on a computer-vision pipeline to identify the required geometric features of the tomatoes and of the truss stem. The grasping method then uses a geometric model of the…
Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…
Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a coarse reference path by constructing tail-sensitive risk…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
The process of planning views to observe a scene is known as the Next Best View (NBV) problem. Approaches often aim to obtain high-quality scene observations while reducing the number of views, travel distance and computational cost.…