相关论文: T-REX: Vision-Based System for Autonomous Leaf Det…
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper…
Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…
Accurate robot localization relative to orchard row centerlines is essential for autonomous guidance where satellite signals are often obstructed by foliage. Existing sensor-based approaches rely on various features extracted from images…
Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…
Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…
Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…
We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…
Automated and selective harvesting of fruits has become an important area of research, particularly due to challenges such as high costs and a shortage of seasonal labor in advanced economies. This paper focuses on 6D pose estimation of…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…
This paper proposes a novel framework for fluorescence plant video processing. The plant research community is interested in the leaf-level photosynthetic analysis within a plant. A prerequisite for such analysis is to segment all leaves,…
In contemporary radiotherapy planning (RTP), a key module leaf sequencing is predominantly addressed by optimization-based approaches. In this paper, we propose a novel deep reinforcement learning (DRL) model termed as Reinforced Leaf…
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.…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…
An experimental field cropped with sugar-beet with a wide spreading of weeds has been used to test vegetation identification from drone visible imagery. Expert masked and hue-filtered pictures have been used to train several Machine…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Controlling environmental conditions and monitoring plant status in greenhouses is critical to promptly making appropriate management decisions aimed at promoting crop production. The primary objective of this research study was to develop…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…