Gradient-based Local Next-best-view Planning for Improved Perception of Targeted Plant Nodes

arXiv:2311.16759v2 Announce Type: replace-cross
Abstract: Robots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need to be cut, despite the high levels of occlusion from other plant parts. We formulate this problem as a local next-best-view (NBV) planning task where the robot has to plan an efficient set of camera viewpoints to overcome occlusion and …

abstract arxiv automate cs.cv cs.ro gradient labour next nodes perception planning robots tasks type view