相关论文: Learning to Prune Branches in Modern Tree-Fruit Or…

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…

Citrus segmentation is a key step of automatic citrus picking. While most current image segmentation approaches achieve good segmentation results by pixel-wise segmentation, these supervised learning-based methods require a large amount of…

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…

Segmentation in dynamic outdoor environments can be difficult when the illumination levels and other aspects of the scene cannot be controlled. Specifically in orchard and vineyard automation contexts, a background material is often used to…

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…

Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…

This research focuses on the development of a drone equipped with pruning tools and a stereo vision camera to accurately detect and measure the spatial positions of tree branches. YOLO is employed for branch segmentation, while two depth…

Robotic pruning of dormant grapevines is an area of active research in order to promote vine balance and grape quality, but so far robotic efforts have largely focused on planar, simplified vines not representative of commercial vineyards.…

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…

3D Move To See (3DMTS) is a mutli-perspective visual servoing method for unstructured and occluded environments, like that encountered in robotic crop harvesting. This paper presents a deep learning method, Deep-3DMTS for creating a…

We present a comprehensive classical and parameterized complexity analysis of decision tree pruning operations, extending recent research on the complexity of learning small decision trees. Thereby, we offer new insights into the…

Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…

Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…

Mobile robots will play a crucial role in the transition towards sustainable agriculture. To autonomously and effectively monitor the state of plants, robots ought to be equipped with visual perception capabilities that are robust to the…

Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that…

Dual-tree algorithms are a widely used class of branch-and-bound algorithms. Unfortunately, developing dual-tree algorithms for use with different trees and problems is often complex and burdensome. We introduce a four-part logical split:…

Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…

Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creating these maps is…