相关论文: 6D Strawberry Pose Estimation: Real-time and Edge …

In this study, we introduce a deep-learning approach for determining both the 6DoF pose and 3D size of strawberries, aiming to significantly augment robotic harvesting efficiency. Our model was trained on a synthetic strawberry dataset,…

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…

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…

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…

This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…

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…

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…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Over the last few years, the number of precision farming projects has increased specifically in harvesting robots and many of which have made continued progress from identifying crops to grasping the desired fruit or vegetable. One of the…

Accurate identification of strawberries during their maturing stages is crucial for optimizing yield management, and pest control, and making informed decisions related to harvest and post-harvest logistics. This study evaluates the…

This study proposed a YOLOv5-based custom object detection model to detect strawberries in an outdoor environment. The original architecture of the YOLOv5s was modified by replacing the C3 module with the C2f module in the backbone network,…

Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…

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…

In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…

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…

Accurate mass estimation of table-top grown strawberries under field conditions remains challenging due to frequent occlusions and pose variations. This study proposes a vision-based pipeline integrating RGB-D sensing and deep learning to…

We present an AI pipeline that involves using smart drones equipped with computer vision to obtain a more accurate fruit count and yield estimation of the number of blueberries in a field. The core components are two object-detection models…

Accurate 6D pose estimation for robotic harvesting is fundamentally hindered by the biological deformability and high intra-class shape variability of agricultural produce. Instance-level methods fail in this setting, as obtaining exact 3D…

The strawberry (Fragaria x ananassa), known worldwide for its economic value and nutritional richness, is a widely cultivated fruit. Determining the correct ripeness level during the harvest period is crucial for both preventing losses for…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…