相关论文: A robotic vision system to measure tree traits

Random forests and, more generally, (decision\nobreakdash-)tree ensembles are widely used methods for classification and regression. Recent algorithmic advances allow to compute decision trees that are optimal for various measures such as…

Vision-based segmentation in forested environments is a key functionality for autonomous forestry operations such as tree felling and forwarding. Deep learning algorithms demonstrate promising results to perform visual tasks such as object…

T-Rex (The Robot for Extracting Leaf Samples) is a gantry-based robotic system developed for autonomous leaf localization, selection, and grasping in greenhouse environments. The system integrates a 6-degree-of-freedom manipulator with a…

Creating accurate 3D models of tree topology is an important task for tree pruning. The 3D model is used to decide which branches to prune and then to execute the pruning cuts. Previous methods for creating 3D tree models have typically…

Recent advances in machine learning and artificial intelligence are now being considered in safety-critical autonomous systems where software defects may cause severe harm to humans and the environment. Design organizations in these domains…

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are…

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…

We propose a procedure to build a decision tree which approximates the performance of complex machine learning models. This single approximation tree can be used to interpret and simplify the predicting pattern of random forests (RFs) and…

Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…

Terrestrial laser scanner is a kind of fast, high-precision data acquisition device, which had been more and more applied to the research areas of forest inventory. In this study, a kind of automated low-cost terrestrial laser scanner was…

Rotation distances measure the differences in structure between rooted ordered binary trees. The one-dimensional skeleta of associahedra are rotation graphs, where two vertices representing trees are connected by an edge if they differ by a…

A dedicated device to fully determine the four-dimensional beam matrix, called ROSE (ROtating System for Emittance measurements) was successfully commissioned. Results obtained with 83Kr13+ at 1.4 MeV/u are reported in Phys. Rev. Accel.…

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…

Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…

Tree defect detection is crucial for the structural health screening of trees. Existing nondestructive testing (NDT) techniques for tree defect detection require time-consuming and labor-intensive measurement campaigns. This discourages…

This paper shows the achievement of a sensing and navigation system of aerial robot for measuring location and size of trees in a forest environment autonomously. Although forestry is an important industry in Japan, the working population…

The effect of training data size on machine learning methods has been well investigated over the past two decades. The predictive performance of tree based machine learning methods, in general, improves with a decreasing rate as the size of…

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…

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…

Accurate tree segmentation is a key step in extracting individual tree metrics from forest laser scans, and is essential to understanding ecosystem functions in carbon cycling and beyond. Over the past decade, tree segmentation algorithms…