相关论文: Precision Harvesting in Cluttered Environments: In…
Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…
Accurately identifying lychee-picking points in unstructured orchard environments and obtaining their coordinate locations is critical to the success of lychee-picking robots. However, traditional two-dimensional (2D) image-based object…
Labor shortages in fruit crop production have prompted the development of mechanized and automated machines as alternatives to labor-intensive orchard operations such as harvesting, pruning, and thinning. Agricultural robots capable of…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture crops remains challenging due to their complex structures,…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…
Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…
Image-based machine learning models can be used to make the sorting and grading of agricultural products more efficient. In many regions, implementing such systems can be difficult due to the lack of centralization and automation of…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Greenhouse production of fruits and vegetables in developed countries is challenged by labor 12 scarcity and high labor costs. Robots offer a good solution for sustainable and cost-effective 13 production. Acquiring accurate spatial…
In farming systems, harvesting operations are tedious, time- and resource-consuming tasks. Based on this, deploying a fleet of autonomous robots to work alongside farmworkers may provide vast productivity and logistics benefits. Then, an…
Post-harvest fruit quality assessment is essential for reducing food waste, yet reliable non-destructive methods typically depend on expensive hyperspectral cameras and computationally intensive deep learning models. These systems typically…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
Aiming at the traditional grasping method for manipulators based on 2D camera, when faced with the scene of gathering or covering, it can hardly perform well in unstructured scenes that appear as gathering and covering, for the reason that…
Small farms contribute to a large share of the productive land in developing countries. In regions such as sub-Saharan Africa, where 80\% of farms are small (under 2 ha in size), the task of mapping smallholder cropland is an important part…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Yield monitors on harvesters are a key component of precision agriculture. Mass flow estimation is the critical factor to measure, and having this allows for field productivity analysis, adjustments to machine efficiency, and cost…
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…