ICUAS'22 Paper Abstract

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Paper ThB2.2

Ivanovic, Antun (University of Zagreb), Polic, Marsela (University of Zagreb, Faculty of Electrical Engineering and Comp), Tabak, Jelena (University of Zagreb), Orsag, Matko (University of Zagreb, Faculty of Electrical Engineering and Comp)

Render-In-The-Loop Aerial Robotics Simulator: Case Study on Yield Estimation in Indoor Agriculture

Scheduled for presentation during the Regular Session "Simulation" (ThB2), Thursday, June 23, 2022, 15:50−16:10, Bokar

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Simulation, Path Planning, UAS Applications

Abstract

Inspired by recent promising results in sim-to-real transfer in deep learning we built a realistic simulation environment combining a Robot Operating System (ROS)-compatible physics simulator (Gazebo) with Cycles, the realistic production rendering engine from Blender. The proposed simulator pipeline allows us to simulate near-realistic RGB-D images. To showcase the capabilities of the simulator pipeline we propose a case study that focuses on indoor robotic farming. We developed a solution for sweet pepper yield estimation task. Our approach to yield estimation starts with aerial robotics control and trajectory planning, combined with deep learning-based pepper detection, and a clustering approach for counting fruit. The results of this case study show that we can combine real time dynamic simulation with near realistic rendering capabilities to simulate complex robotic systems.

 

 

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