Viewpoint Planning for Fruit Size and Position Estimation
Tobias Zaenker,Claus Smitt,Chris McCool,Maren Bennewitz,Tobias Zaenker,Claus Smitt,Chris McCool,Maren Bennewitz
Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that builds up an octree of plants with labeled regions of interest (ROIs), i.e., fruits. Our method uses this octree to sample viewpoint candidates that increase the i...
