相关论文: Computer-Vision Based Real Time Waypoint Generatio…
The classification of different grapevine varieties is a relevant phenotyping task in Precision Viticulture since it enables estimating the growth of vineyard rows dedicated to different varieties, among other applications concerning the…
Mobile manipulators that combine mobility and manipulability, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, the coordinated motion of the mobile base and manipulator is…
Robots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
Cluster closure, defined as the progressive filling of gaps between the berries in a grape bunch, is a key trait in vineyard management, impacting disease risk. However, traditional visual scoring methods are labor-intensive, subjective,…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…
Yield estimation is a powerful tool in vineyard management, as it allows growers to fine-tune practices to optimize yield and quality. However, yield estimation is currently performed using manual sampling, which is time-consuming and…
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…
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and accomplish tasks that are infeasible for over-the-canopy drones…
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of…