Related papers: Active Robotic Perception for Disease Detection an…
Searching and detecting the task-relevant parts of plants is important to automate harvesting and de-leafing of tomato plants using robots. This is challenging due to high levels of occlusion in tomato plants. Active vision is a promising…
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…
Semantic maps are fundamental for robotics tasks such as navigation and manipulation. They also enable yield prediction and phenotyping in agricultural settings. In this paper, we introduce an efficient and scalable approach for active…
Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…
Monitoring orchards at the individual tree or fruit level throughout the growth season is crucial for plant phenotyping and horticultural resource optimization, such as chemical use and yield estimation. We present a 4D spatio-temporal…
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…
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…
Apple orchards require timely disease detection, fruit quality assessment, and yield estimation, yet existing UAV-based systems address such tasks in isolation and often rely on costly multispectral sensors. This paper presents a unified,…
Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creating these maps is…
Labor shortages in fruit crop production have prompted the development of mechanized and automated machines as alternatives to labor-intensive orchard operations such as harvesting, pruning, and thinning. Agricultural robots capable of…
Apple diseases, if not diagnosed early, can lead to massive resource loss and pose a serious threat to humans and animals who consume the infected apples. Hence, it is critical to diagnose these diseases early in order to manage plant…
In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower…
Apple orchards in the U.S. are under constant threat from a large number of pathogens and insects. Appropriate and timely deployment of disease management depends on early disease detection. Incorrect and delayed diagnosis can result in…
Robotic harvesting of fruits in orchards is a challenging task, since high density and overlapping of fruits and branches can heavily impact the success rate of robotic harvesting. Therefore, the vision system is demanded to provide…
Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…
Crop yield estimation is a relevant problem in agriculture, because an accurate yield estimate can support farmers' decisions on harvesting or precision intervention. Robots can help to automate this process. To do so, they need to be able…
In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…
Measuring semantic traits for phenotyping is an essential but labor-intensive activity in horticulture. Researchers often rely on manual measurements which may not be accurate for tasks such as measuring tree volume. To improve the accuracy…
Active perception is a fundamental skill that enables us humans to deal with uncertainty in our inherently partially observable environment. For senses such as touch, where the information is sparse and local, active perception becomes…
Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making…