Related papers: GS-NBV: a Geometry-based, Semantics-aware Viewpoin…
Accurate 3D fruit counting in orchards is challenging due to heavy occlusion, semantic ambiguity between fruits and surrounding structures, and the high computational cost of volumetric reconstruction. Existing pipelines often rely on…
The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful…
Computer vision systems today are primarily N-purpose systems, designed and trained for a predefined set of tasks. Adapting such systems to new tasks is challenging and often requires non-trivial modifications to the network architecture…
Some perspectives naturally provide more information than others. How can an AI system determine which viewpoint offers the most valuable insight for accurate and efficient 3D object reconstruction? Active view selection (AVS) for 3D…
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…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
In this paper, we present a comprehensive UAV system design to perform the highly complex task of off-centered aerial grasping. This task has several interdisciplinary research challenges which need to be addressed at once. The main design…
An accurate and reliable image based fruit detection system is critical for supporting higher level agriculture tasks such as yield mapping and robotic harvesting. This paper presents the use of a state-of-the-art object detection…
The fruit identification process involves analyzing and categorizing different types of fruits based on their visual characteristics. This activity can be achieved using a range of methodologies, encompassing manual examination,…
Birds-eye-view (BEV) semantic segmentation is critical for autonomous driving for its powerful spatial representation ability. It is challenging to estimate the BEV semantic maps from monocular images due to the spatial gap, since it is…
Precise segmentation of Unmanned Aerial Vehicle (UAV)-captured images plays a vital role in tasks such as crop yield estimation and plant health assessment in banana plantations. By identifying and classifying planted areas, crop area can…
Geometry problem solving presents a formidable challenge within the NLP community. Existing approaches often rely on models designed for solving math word problems, neglecting the unique characteristics of geometry math problems.…
Accurate mass estimation of table-top grown strawberries under field conditions remains challenging due to frequent occlusions and pose variations. This study proposes a vision-based pipeline integrating RGB-D sensing and deep learning to…
We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…
Automated Valet Parking (AVP) is a crucial component of advanced autonomous driving systems, focusing on the endpoint task within the "human-vehicle interaction" process to tackle the challenges of the "last mile".The perception module of…
3D Gaussian Splatting has recently emerged as an efficient solution for high-quality and real-time novel view synthesis. However, its capability for accurate surface reconstruction remains underexplored. Due to the discrete and unstructured…
We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due to the complexity of fine-tuning flight paths based on…
As technology progresses, smart automated systems will serve an increasingly important role in the agricultural industry. Current existing vision systems for yield estimation face difficulties in occlusion and scalability as they utilize a…
What makes a good viewpoint? The quality of the data used to learn 3D reconstructions is crucial for enabling efficient and accurate scene modeling. We study the active view selection problem and develop a principled analysis that yields a…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…