相关论文: 3D Skeletonization of Complex Grapevines for Robot…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

IoT and edge-based inference systems require unique solutions to overcome resource limitations and unpredictable environments. In this paper, we propose an environment-aware dynamic pruning system that handles the unpredictability of edge…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

Field robotic harvesting is a promising technique in recent development of agricultural industry. It is vital for robots to recognise and localise fruits before the harvesting in natural orchards. However, the workspace of harvesting robots…

Weed scouting is an important part of modern integrated weed management but can be time consuming and sparse when performed manually. Automated weed scouting and weed destruction has typically been performed using classification systems…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

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…

Soft, tip-extending "vine" robots offer a unique mode of inspection and manipulation in highly constrained environments. For practicality, it is desirable that the distal end of the robot can be manipulated freely, while the body remains…

Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…

Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…

3D segmentation is a fundamental and challenging problem in computer vision with applications in autonomous driving and robotics. It has received significant attention from the computer vision, graphics and machine learning communities.…

3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…

Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…

Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquakes, fires, explosions, and material flaws. These vine robots…

The remarkable performance of deep Convolutional neural networks (CNNs) is generally attributed to their deeper and wider architectures, which can come with significant computational costs. Pruning neural networks has thus gained interest…

Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to…

We propose a novel, canopy density estimation solution using a 3D ray cloud representation for perennial horticultural crops at the field scale. To attain high spatial and temporal fidelity in field conditions, we propose the application of…

Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…

Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a…