相关论文: Accurate Cutting-point Estimation for Robotic Lych…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Pseudo-LiDAR based 3D object detectors have gained popularity due to their high accuracy. However, these methods need dense depth supervision and suffer from inferior speed. To solve these two issues, a recently introduced RTS3D builds an…

Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labour are driving factors that can help encourage user acceptability of robotic…

High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…

Light field cameras and multi-camera arrays have emerged as promising solutions for accurately estimating depth by passively capturing light information. This is possible because the 3D information of a scene is embedded in the 4D light…

Segmentation of structural parts of 3D models of plants is an important step for plant phenotyping, especially for monitoring architectural and morphological traits. Current state-of-the art approaches rely on hand-crafted 3D local features…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

This manuscript provides a collection of new methods for the automated detection of non-overlapping ellipses from edge points. The methods introduce new developments in: (i) robust Monte Carlo-based ellipse fitting to 2-dimensional (2D)…

Middle-echo, which covers one or a few corresponding points, is a specific type of 3D point cloud acquired by a multi-echo laser scanner. In this paper, we propose a novel approach for automatic segmentation of trees that leverages…

Wheat plays a critical role in global food security, making it one of the most extensively studied crops. Accurate identification and measurement of key characteristics of wheat heads are essential for breeders to select varieties for…

Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…

In this paper we present Latent-Class Hough Forests, a method for object detection and 6 DoF pose estimation in heavily cluttered and occluded scenarios. We adapt a state of the art template matching feature into a scale-invariant patch…

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…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…