Related papers: Where to Perch in a Tree: Vision-Guidance for Tree…
The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…
This research focuses on the development of a drone equipped with pruning tools and a stereo vision camera to accurately detect and measure the spatial positions of tree branches. YOLO is employed for branch segmentation, while two depth…
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…
This paper presents a stereo-vision-based system mounted on a drone for detecting and localising radiata pine branches to support autonomous pruning. The proposed pipeline comprises two stages: branch segmentation and depth estimation. For…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Dormant tree pruning is labor-intensive but essential to maintaining modern highly-productive fruit orchards. In this work we present a closed-loop visuomotor controller for robotic pruning. The controller guides the cutter through a…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
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…
Information on trees at the individual level is crucial for monitoring forest ecosystems and planning forest management. Current monitoring methods involve ground measurements, requiring extensive cost, time and labor. Advances in drone…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…
Automatic classification of trees using remotely sensed data has been a dream of many scientists and land use managers. Recently, Unmanned aerial vehicles (UAV) has been expected to be an easy-to-use, cost-effective tool for remote sensing…
Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to…
Visual localization algorithms have achieved significant improvements in performance thanks to recent advances in camera technology and vision-based techniques. However, there remains one critical caveat: all current approaches that are…
Arrays of bioinspired artificial hair-cell airflow velocity sensors can enable flight-by-feel of small, unmanned aircraft. Natural fliers - bats, insects, and birds - have hundred or thousands of velocity sensors distributed across their…
Autonomous drone-based tree pruning needs accurate, real-time depth estimation from stereo cameras. Depth is computed from disparity maps using $Z = f B/d$, so even small disparity errors cause noticeable depth mistakes at working…
The cultivation of orchard meadows provides an ecological benefit for biodiversity, which is significantly higher than in intensively cultivated orchards. The goal of this research is to create a tree model to automatically determine…
This paper presents a non-parametric approach for segmenting trees from airborne LiDAR data in deciduous forests. Based on the LiDAR point cloud, the approach collects crown information such as steepness and height on-the-fly to delineate…
Accurate and consistent methods for counting trees based on remote sensing data are needed to support sustainable forest management, assess climate change mitigation strategies, and build trust in tree carbon credits. Two-dimensional remote…