Combining Local and Global Viewpoint Planning for Fruit Coverage

  title={Combining Local and Global Viewpoint Planning for Fruit Coverage},
  author={Tobias Zaenker and Christopher F. Lehnert and Chris McCool and Maren Bennewitz},
  journal={2021 European Conference on Mobile Robots (ECMR)},
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it is necessary to avoid occlusions as much as possible and acquire sensor information of the relevant parts. Global viewpoint planners exist that suggest a series of viewpoints to cover the regions of interest up to a certain degree, but they usually prioritize… 

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