Related papers: Occlusion Handling by Pushing for Enhanced Fruit D…
DexFruit is a robotic manipulation framework that enables gentle, autonomous handling of fragile fruit and precise evaluation of damage. Many fruits are fragile and prone to bruising, thus requiring humans to manually harvest them with…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
In this paper, we study the task of detecting semantic parts of an object, e.g., a wheel of a car, under partial occlusion. We propose that all models should be trained without seeing occlusions while being able to transfer the learned…
Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not…
Robotic apple harvesting has received much research attention in the past few years due to growing shortage and rising cost in labor. One key enabling technology towards automated harvesting is accurate and robust apple detection, which…
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally…
Maturity estimation of fruits and vegetables is a critical task for agricultural automation, directly impacting yield prediction and robotic harvesting. Current deep learning approaches predominantly treat maturity as a discrete…
Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…
This study addresses the demand for real-time detection of tomatoes and tomato flowers by agricultural robots deployed on edge devices in greenhouse environments. Under practical imaging conditions, object detection systems often face…
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…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
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…
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Occlusion is one of the challenging issues when estimating 3D hand pose. This problem becomes more prominent when hand interacts with an object or two hands are involved. In the past works, much attention has not been given to these…
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…