Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Visual Perception and Modelling in Unstructured Orchard for Apple
  Harvesting Robots   Vision perception and modelling are the essential tasks of robotic harvesting
in the unstructured orchard. This paper develops a framework of visual
perception and modelling for robotic harvesting of fruits in the orchard
environments. The developed framework includes visual perception, scenarios
mapping, and fruit modelling. The Visual perception module utilises a
deep-learning model to perform multi-purpose visual perception task within the
working scenarios; The scenarios mapping module applies OctoMap to represent
the multiple classes of objects or elements within the environment; The fruit
modelling module estimates the geometry property of objects and estimates the
proper access pose of each fruit. The developed framework is implemented and
evaluated in the apple orchards. The experiment results show that visual
perception and modelling algorithm can accurately detect and localise the
fruits, and modelling working scenarios in real orchard environments. The
$F_{1}$ score and mean intersection of union of visual perception module on
fruit detection and segmentation are 0.833 and 0.852, respectively. The
accuracy of the fruit modelling in terms of centre localisation and pose
estimation are 0.955 and 0.923, respectively. Overall, an accurate visual
perception and modelling algorithm are presented in this paper.

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The categories of this paper are: dg-ga
8
The categories of this paper are: hep-ex
35
The categories of this paper are: mtrl-th
5
The categories of this paper are: gr-qc
34
The categories of this paper are: chem-ph
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
12
The categories of this paper are: nucl-th
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The categories of this paper are: eess
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The categories of this paper are: math-ph
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The categories of this paper are: econ
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The categories of this paper are: bayes-an
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The categories of this paper are: nucl-ex
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The categories of this paper are: alg-geom