相关论文: FloPE: Flower Pose Estimation for Precision Pollin…
The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitable for bees such as greenhouses, growth chambers, and in…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Global food production depends upon successful pollination, a process that relies on natural and managed pollinators. However, natural pollinators are declining due to factors such as climate change, habitat loss, and pesticide use. This…
Flower pollination is an intriguing process in the natural world. Its evolutionary characteristics can be used to design new optimization algorithms. In this paper, we propose a new algorithm, namely, flower pollination algorithm, inspired…
This research presents a novel, robotic pollination system designed for targeted pollination of apple flowers in modern fruiting wall orchards. Developed in response to the challenges of global colony collapse disorder, climate change, and…
Digital fringe projection (DFP) enables micrometer-level 3D reconstruction, yet extending it to large-scale mapping remains challenging because six-degree-of-freedom pose estimation often cannot match the reconstruction's precision.…
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.…
Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in $\mathrm{SE}(3)$ or estimate it indirectly via local feature matching. The former struggle with object…
Monitoring flowers over time is essential for precision robotic pollination in agriculture. To accomplish this, a continuous spatial-temporal observation of plant growth can be done using stationary RGB-D cameras. However, image…
Accurate and scalable quantification of animal pose and appearance is crucial for studying behavior. Current 3D pose estimation techniques, such as keypoint- and mesh-based techniques, often face challenges including limited…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…
Monocular 3D pose estimation is fundamentally ill-posed due to depth ambiguity and occlusions, thereby motivating probabilistic methods that generate multiple plausible 3D pose hypotheses. In particular, diffusion-based models have recently…
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…
Flower pollination algorithm is a recent metaheuristic algorithm for solving nonlinear global optimization problems. The algorithm has also been extended to solve multiobjective optimization with promising results. In this work, we analyze…
Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-growing human population on Earth. This paper presents the…
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…