Attention-driven Next-best-view Planning for Efficient Reconstruction of Plants and Targeted Plant Parts

Understand

Robots in tomato greenhouses need to perceive the plant and plant parts accurately to automate monitoring, harvesting, and de-leafing tasks.

• Existing perception systems struggle with the high levels of occlusion in plants and often result in poor perception accuracy.
• One reason for this is because they use fixed cameras or predefined camera movements.
• Next-best-view (NBV) planning presents an alternate approach, in which the camera viewpoints are reasoned and strategically planned such that the perception accuracy is improved.