Corpus ID: 236772184

Semantic-aware plant traversability estimation in plant-rich environments for agricultural mobile robots

  title={Semantic-aware plant traversability estimation in plant-rich environments for agricultural mobile robots},
  author={Shigemichi Matsuzaki and Jun Miura and Hiroaki Masuzawa},
This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them in greenhouses for agricultural mobile robots. Conventional mobile robots rely on scene recognition methods that consider only the presence of objects. Those methods, therefore, cannot recognize paths covered by flexible plants as traversable. In this paper, we present a novel framework of the scene recognition based on image-based semantic segmentation for robot navigation… Expand

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