相关论文: Combining Local and Global Viewpoint Planning for …

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 work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

Handling all together large displacements, motion details and occlusions remains an open issue for reliable computation of optical flow in a video sequence. We propose a two-step aggregation paradigm to address this problem. The idea is to…

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…

The crux of long-term tracking lies in the difficulty of tracking the target with discontinuous moving caused by out-of-view or occlusion. Existing long-term tracking methods follow two typical strategies. The first strategy employs a local…

Robots in tomato greenhouses need to perceive the plant and plant parts accurately to automate monitoring, harvesting, and de-leafing tasks. Existing perception systems struggle with the high levels of occlusion in plants and often result…

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…

This paper presents a computational model to recover the most likely interpretation of the 3D scene structure from a planar image, where some objects may occlude others. The estimated scene interpretation is obtained by integrating some…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…

RGBD-based real-time dynamic 3D reconstruction suffers from inaccurate inter-frame motion estimation as errors may accumulate with online tracking. This problem is even more severe for single-view-based systems due to strong occlusions.…

Fruit tree pruning and fruit thinning require a powerful vision system that can provide high resolution segmentation of the fruit trees and their branches. However, recent works only consider the dormant season, where there are minimal…

Sampling-based planners are effective in many real-world applications such as robotics manipulation, navigation, and even protein modeling. However, it is often challenging to generate a collision-free path in environments where key areas…

The development of precision agriculture has gradually introduced automation in the agricultural process to support and rationalize all the activities related to field management. In particular, service robotics plays a predominant role in…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making…

Wearable cameras stand out as one of the most promising devices for the upcoming years, and as a consequence, the demand of computer algorithms to automatically understand the videos recorded with them is increasing quickly. An automatic…

Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…