5 papers · 1 filter
SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
Rohit Menon, Niklas Mueller-Goldingen, Sicong Pan +2
Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which…
Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection
Nils Dengler, Jesper Mücke, Rohit Menon +1
Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semant…
EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images
Rohit Menon, Nils Dengler, Sicong Pan +2
For scene understanding in unstructured environments, an accurate and uncertainty-aware metric-semantic mapping is required to enable informed action selection by autonomous system…
GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping
Allen Isaac Jose, Sicong Pan, Tobias Zaenker +3
Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture c…
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring
Salih Marangoz, Tobias Zaenker, Rohit Menon +1
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…