Keerthy Kusumam

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We present an evaluation of standard image features in the context of long-term visual teach-and-repeat mobile robot navigation, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that in the given longterm scenario, the viewpoint, scale and rotation invariance of(More)
This paper presents a 3D vision system for robotic harvesting of broccoli using low-cost RGB-D sensors. The presented method addresses the tasks of detecting mature broccoli heads in the field and providing their 3D locations relative to the vehicle. The paper evaluates different 3D features, machine learning and temporal filtering methods for detection of(More)
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