Related papers: Occlusion Handling by Pushing for Enhanced Fruit D…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
Object detection in natural environments is still a very challenging task, even though deep learning has brought a tremendous improvement in performance over the last years. A fundamental problem of object detection based on deep learning…
Occlusion edges in images which correspond to range discontinuity in the scene from the point of view of the observer are an important prerequisite for many vision and mobile robot tasks. Although they can be extracted from range data…
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…
Accurate and consistent fruit monitoring over time is a key step toward automated agricultural production systems. However, this task is inherently difficult due to variations in fruit size, shape, occlusion, orientation, and the dynamic…
Fruit distribution is pivotal in shaping the future of both agriculture and agricultural robotics, paving the way for a streamlined supply chain. This study introduces an innovative methodology that harnesses the synergy of RGB imagery,…
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…
In this work, we present a method to extract the skeleton of a self-occluded tree canopy by estimating the unobserved structures of the tree. A tree skeleton compactly describes the topological structure and contains useful information such…
The significant power of deep learning networks has led to enormous development in object detection. Over the last few years, object detector frameworks have achieved tremendous success in both accuracy and efficiency. However, their…
Accurate depth-sensing plays a crucial role in securing a high success rate of robotic harvesting in natural orchard environments. Solid-state LiDAR (SSL), a recently introduced LiDAR technique, can perceive high-resolution geometric…
We present new methods for apple detection and counting based on recent deep learning approaches and compare them with state-of-the-art results based on classical methods. Our goal is to quantify performance improvements by neural…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
We present CROP (Central Roundish Object Painter), which identifies and paints the object at the center of an RGB image. Primarily CROP works for roundish fruits in various illumination conditions, but surprisingly, it could also deal with…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…
Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard's lifespan. Robot manipulators have been developed as an automated solution for…
There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design…
Occlusion handling is one of the challenges of object detection and segmentation, and scene understanding. Because objects appear differently when they are occluded in varying degree, angle, and locations. Therefore, determining the…
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…
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…
Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…