相关论文: Geometry-Aware Fruit Grasping Estimation for Robot…

Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…

Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…

One of the major challenges for the agricultural industry today is the uncertainty in manual labor availability and the associated cost. Automated flower and fruit density estimation, localization, and counting could help streamline…

Accurate and consistent fruit monitoring over time is a key step toward automated agricultural production systems. However, this task is inherently difficult due to variations in fruit size, shape, occlusion, orientation, and the dynamic…

The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…

Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…

6-DoF grasp detection is critically important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have been proposed to detect 6-DoF grasps through the extraction of…

Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that…

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…

This work provides an architecture that incorporates depth and tactile information to create rich and accurate 3D models useful for robotic manipulation tasks. This is accomplished through the use of a 3D convolutional neural network (CNN).…

Robust and reliable place recognition and loop closure detection in agricultural environments is still an open problem. In particular, orchards are a difficult case study due to structural similarity across the entire field. In this work,…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

Estimating accurate and reliable fruit and vegetable counts from images in real-world settings, such as orchards, is a challenging problem that has received significant recent attention. Estimating fruit counts before harvest provides…

In this paper, we propose a deep learning framework for the automated counting and geolocation of palm trees from aerial images using convolutional neural networks. For this purpose, we collected aerial images in a palm tree Farm in the…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…

Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…