Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Viewpoint Planning for Fruit Size and Position Estimation   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 information around the fruit regions and evaluates
them using a heuristic utility function that takes into account the expected
information gain. Our system automatically switches between ROI targeted
sampling and exploration sampling, which considers general frontier voxels,
depending on the estimated utility. When the plants have been sufficiently
covered with the RGB-D sensor, our system clusters the ROI voxels and estimates
the position and size of the detected fruits. We evaluated our approach in
simulated scenarios and compared the resulting fruit estimations with the
ground truth. The results demonstrate that our combined approach outperforms a
sampling method that does not explicitly consider the ROIs to generate
viewpoints in terms of the number of discovered ROI cells. Furthermore, we show
the real-world applicability by testing our framework on a robotic arm equipped
with an RGB-D camera installed on an automated pipe-rail trolley in a capsicum
glasshouse.

16
The categories of this paper are: stat
3
The categories of this paper are: physics
15
The categories of this paper are: nucl-ex
28
The categories of this paper are: alg-geom
36
The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
24
The categories of this paper are: dg-ga
8
The categories of this paper are: hep-ex
30
The categories of this paper are: q-alg
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
11
The categories of this paper are: hep-lat
37
The categories of this paper are: supr-con
33
The categories of this paper are: plasm-ph