相关论文: AHPPEBot: Autonomous Robot for Tomato Harvesting b…
Occlusion remains a critical challenge in robotic fruit harvesting, as undetected or inaccurately localised fruits often results in substantial crop losses. To mitigate this issue, we propose a harvesting framework using a new amodal…
Vision Foundation Models trained via large-scale self-supervised learning have demonstrated strong generalization in visual perception; however, their practical role and performance limits in agricultural settings remain insufficiently…
Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration.…
This study addresses the escalating threat of branched broomrape (Phelipanche ramosa) to California's tomato industry, which supplies over 90 percent of U.S. processing tomatoes. The parasite's largely underground life cycle makes early…
The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree…
Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Automating the detection of fruits and vegetables using computer vision is essential for modernizing agriculture, improving efficiency, ensuring food quality, and contributing to technologically advanced and sustainable farming practices.…
Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…
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…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…
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…
Plant phenotyping, that is, the quantitative assessment of plant traits including growth, morphology, physiology, and yield, is a critical aspect towards efficient and effective crop management. Currently, plant phenotyping is a manually…
One of the most important agricultural products in Mexico is the tomato (Solanum lycopersicum), which occupies the 4th place national most produced product . Therefore, it is necessary to improve its production, building automatic detection…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic…
Traditional field phenotyping methods are often manual, time-consuming, and destructive, posing a challenge for breeding progress. To address this bottleneck, robotics and automation technologies offer efficient sensing tools to monitor…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
The tomato is one of the most important fruits on earth. It plays an important and useful role in the agricultural production of any country. This research propose a novel smart technique for early detection of late blight diseases in…