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Achieving success in agricultural activities heavily relies on precise navigation in row crop fields. Recently, segmentation-based navigation has emerged as a reliable technique when GPS-based localization is unavailable or higher accuracy…
Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be…
The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…
Novel view synthesis (NVS) has advanced with generative modeling, enabling photorealistic image generation. In few-shot NVS, where only a few input views are available, existing methods often assume equal importance for all input views…
Ground vehicles equipped with monocular vision systems are a valuable source of high resolution image data for precision agriculture applications in orchards. This paper presents an image processing framework for fruit detection and…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…
Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
Estimating positions of world points from features observed in images is a key problem in 3D reconstruction, image mosaicking,simultaneous localization and mapping and structure from motion. We consider a special instance in which there is…
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
Novel View Synthesis (NVS) aims to generate unseen views of a 3D object given a limited number of known views. Existing methods often struggle to synthesize plausible views for unobserved regions, particularly under single-view input, and…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
Next Best View (NBV) algorithms aim to maximize 3D scene acquisition quality using minimal resources, e.g. number of acquisitions, time taken, or distance traversed. Prior methods often rely on coverage maximization as a proxy for…
It is well known that vision classification models suffer from poor calibration in the face of data distribution shifts. In this paper, we take a geometric approach to this problem. We propose Geometric Sensitivity Decomposition (GSD) which…
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a…
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…
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…