相关论文: Semantics-guided Skeletonization of Sweet Cherry T…
In plant phenotyping, accurate trait extraction from 3D point clouds of trees is still an open problem. For automatic modeling and trait extraction of tree organs such as blossoms and fruits, the semantically segmented point cloud of a tree…
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…
Accurate 3D modelling of grapevines is crucial for precision viticulture, particularly for informed pruning decisions and automated management techniques. However, the intricate structure of grapevines poses significant challenges for…
Curve skeleton extraction from unorganized point cloud is a fundamental task of computer vision and three-dimensional data preprocessing and visualization. A great amount of work has been done to extract skeleton from point cloud. but the…
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…
Skeletonization is a powerful tool for shape analysis, rooted in the inherent instinct to understand an object's morphology. It has found applications across various domains, including robotics. Although skeletonization algorithms have been…
Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of…
Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…
This paper introduces Smart-Tree, a supervised method for approximating the medial axes of branch skeletons from a tree point cloud. Smart-Tree uses a sparse voxel convolutional neural network to extract the radius and direction towards the…
Generating accurate digital tree models from scanned environments is invaluable for forestry, agriculture, and other outdoor industries in tasks such as identifying biomass, fall hazards and traversability, as well as digital applications…
The work proposes an image segmentation algorithm that isolates slender regions in three-dimensional microstructures. Characterizing slender regions in material microstructures is an extremely important aspect in material science because…
Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creating these maps is…
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…
Point clouds are a set of data points in space to represent the 3D geometry of objects. A fundamental step in the processing is to identify a subset of points to represent the shape. While traditional sampling methods often ignore to…
Robotic pruning of dormant grapevines is an area of active research in order to promote vine balance and grape quality, but so far robotic efforts have largely focused on planar, simplified vines not representative of commercial vineyards.…
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…
The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…
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…
We present TreeON, a novel neural-based framework for reconstructing detailed 3D tree point clouds from sparse top-down geodata, using only a single orthophoto and its corresponding Digital Surface Model (DSM). Our method introduces a new…
Measuring tree morphology for phenotyping is an essential but labor-intensive activity in horticulture. Researchers often rely on manual measurements which may not be accurate for example when measuring tree volume. Recent approaches on…