相关论文: Key Point-based Orientation Estimation of Strawber…
Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…
Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…
Continuous harvesting and storage of multiple fruits in a single operation allow robots to significantly reduce the travel distance required for repetitive back-and-forth movements. Traditional collision-free path planning algorithms, such…
In this paper, a novel tool prototype for harvesting table-top grown strawberries is presented. With robustness against strawberry localization error of 15mm and average cycle time of 8.02 seconds at 50% of maximum operational velocity, it…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
Crop yield estimation is a relevant problem in agriculture, because an accurate yield estimate can support farmers' decisions on harvesting or precision intervention. Robots can help to automate this process. To do so, they need to be able…
Traditionally, sweet orange crop forecasting has involved manually counting fruits from numerous trees, which is a labor-intensive process. Automatic systems for fruit counting, based on proximal imaging, computer vision, and machine…
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally…
Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
Maturity estimation of fruits and vegetables is a critical task for agricultural automation, directly impacting yield prediction and robotic harvesting. Current deep learning approaches predominantly treat maturity as a discrete…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
The strawberry industry yields significant economic benefits for Florida, yet the process of monitoring strawberry growth and yield is labor-intensive and costly. The development of machine learning-based detection and tracking…
In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…
Over the last few years, the number of precision farming projects has increased specifically in harvesting robots and many of which have made continued progress from identifying crops to grasping the desired fruit or vegetable. One of the…
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority…
Machine vision for precision agriculture has attracted considerable research interest in recent years. The goal of this paper is to develop an end-to-end cranberry health monitoring system to enable and support real time cranberry…
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…
Computer vision methods based on convolutional neural networks (CNNs) have presented promising results on image-based fruit detection at ground-level for different crops. However, the integration of the detections found in different images,…
Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that…