相关论文: Visual Perception and Modelling in Unstructured Or…

Capabilities and the number of vision-based models are increasing rapidly. And these vision models are now able to do more tasks like object detection, image classification, instance segmentation etc. with great accuracy. But models which…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in automated harvesting offer a promising solution by enabling…

Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…

We propose a procedural fruit tree rendering framework, based on Blender and Python scripts allowing to generate quickly labeled dataset (i.e. including ground truth semantic segmentation). It is designed to train image analysis deep…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree…

Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…

3D Move To See (3DMTS) is a mutli-perspective visual servoing method for unstructured and occluded environments, like that encountered in robotic crop harvesting. This paper presents a deep learning method, Deep-3DMTS for creating a…

Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…

Crop detection is integral for precision agriculture applications such as automated yield estimation or fruit picking. However, crop detection, e.g., apple detection in orchard environments remains challenging due to a lack of large-scale…

The localization of fruits is an essential first step in automated agricultural pipelines for yield estimation or fruit picking. One example of this is the localization of apples in images of entire apple trees. Since the apples are very…

The optimisation of crop harvesting processes for commonly cultivated crops is of great importance in the aim of agricultural industrialisation. Nowadays, the utilisation of machine vision has enabled the automated identification of crops,…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Machine vision is a critical subsystem for enabling robots to be able to perform a variety of tasks in orchard environments. However, orchards are highly visually complex environments, and computer vision algorithms operating in them must…

Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…

To optimize fruit production, a portion of the flowers and fruitlets of apple trees must be removed early in the growing season. The proportion to be removed is determined by the bloom intensity, i.e., the number of flowers present in the…

The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…