相关论文: Quantitative Hardness Assessment with Vision-based…

This work proposes a framework using temporal data and domain knowledge in order to analyze complex agronomical features. The expertise is first formalized in an ontology, under the form of concepts and relationships between them, and then…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

Region sampling or weighting is significantly important to the success of modern region-based object detectors. Unlike some previous works, which only focus on "hard" samples when optimizing the objective function, we argue that sample…

In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…

Dragon fruit, renowned for its nutritional benefits and economic value, has experienced rising global demand due to its affordability and local availability. As dragon fruit cultivation expands, efficient pre- and post-harvest quality…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

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…

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…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

Automation and robotisation of the agricultural sector are seen as a viable solution to socio-economic challenges faced by this industry. This technology often relies on intelligent perception systems providing information about crops,…

Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…

Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…

Current robotic manipulation requires reliable methods to predict whether a certain grasp on an object will be successful or not prior to its execution. Different methods and metrics have been developed for this purpose but there is still…

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…

We present a system to measure the ripeness of fruit with a hyperspectral camera and a suitable deep neural network architecture. This architecture did outperform competitive baseline models on the prediction of the ripeness state of fruit.…

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…

Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…

6-DoF grasp pose detection of multi-grasp and multi-object is a challenge task in the field of intelligent robot. To imitate human reasoning ability for grasping objects, data driven methods are widely studied. With the introduction of…

This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…

Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…