High-Speed Detector For Low-Powered Devices In Aerial Grasping

arXiv:2402.14591v1 Announce Type: new
Abstract: Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this context, we make the following contributions: (i) Fast Fruit Detector (FFD), a resource-efficient, single-stage, and postprocessing-free object detector based on our novel latent object representation (LOR) module, query assignment, and prediction strategy. FFD achieves 100FPS@FP32 precision on the latest 10W NVIDIA Jetson-NX …

abstract aerial algorithm algorithms arxiv autonomous compute computing context cs.cv cs.ro detection devices grasping low speed stage type