相关论文: NBV-SC: Next Best View Planning based on Shape Com…

We introduce a method that simultaneously learns to explore new large environments and to reconstruct them in 3D from color images only. This is closely related to the Next Best View problem (NBV), where one has to identify where to move…

Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…

Change monitoring is an essential task for cranberry farming as it provides both breeders and growers with the ability to analyze growth, predict yield, and make treatment decisions. However, this task is often done manually, requiring…

Repeated plant monitoring is essential for tracking crop growth, and 3D reconstruction enables consistent comparison across monitoring sessions. However, rebuilding a 3D model from scratch in every session is costly and overlooks…

UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…

In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…

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…

Automation and robotisation of the agricultural sector are seen as a viable solution to socio-economic challenges faced by this industry. This technology often relies on intelligent perception systems providing information about crops,…

High-quality observations of the real world are crucial for a variety of applications, including producing 3D printed replicas of small-scale scenes and conducting inspections of large-scale infrastructure. These 3D observations are…

The Next Best View problem is a computer vision problem widely studied in robotics. To solve it, several methodologies have been proposed over the years. Some, more recently, propose the use of deep learning models. Predictions obtained…

Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…

Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a…

We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of images. Our pipeline works on image streams from a monocular…

Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible…

Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…

Precision agriculture aims to use technological tools for the agro-food sector to increase productivity, cut labor costs, and reduce the use of resources. This work takes inspiration from bees vision to design a remote sensing system…

Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…

3D shape completion is important to enable machines to perceive the complete geometry of objects from partial observations. To address this problem, view-based methods have been presented. These methods represent shapes as multiple depth…