Graph-based View Motion Planning for Fruit Detection

Understand

Crop monitoring is crucial for maximizing agricultural productivity and efficiency.

• However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the fruits.
• Traditional next-best view planning can lead to unstructured and inefficient coverage of the crops.
• To address this, we propose a novel view motion planner that builds a graph network of viable view poses and trajectories between nearby poses, thereby considering robot motion constraints.