相关论文: An Integrated Visual Servoing Framework for Precis…
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…
Manual pruning of radiata pine trees presents significant safety risks due to their substantial height and the challenging terrains in which they thrive. To address these risks, this research proposes the development of a drone-based…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Precision agriculture is a fast-growing field that aims at introducing affordable and effective automation into agricultural processes. Nowadays, algorithmic solutions for navigation in vineyards require expensive sensors and high…
Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…
The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…
Cultivation and weeding are two of the primary tasks performed by farmers today. A recent challenge for weeding is the desire to reduce herbicide and pesticide treatments while maintaining crop quality and quantity. In this paper, we…
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 visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful…
Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth…
Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…
Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…
Autonomous harvesting may provide a viable solution to mounting labor pressures in the United States's strawberry industry. However, due to bottlenecks in machine perception and economic viability, a profitable and commercially adopted…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
Data collection for forestry, timber, and agriculture currently relies on manual techniques which are labor-intensive and time-consuming. We seek to demonstrate that robotics offers improvements over these techniques and accelerate…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…