Active perception for robotic harvesting: 3D reconstruction and localisation of tomatoes hidden within clusters in a Mediterranean greenhouse

arXiv:2609.18738 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Clustering — 8× in this paper · explained in 2 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Core — 4× in this paper · explained in 2 episodes
• Region Growing — 4× in this paper
• Density-Based Spatial Clustering of Applications with Noise — 3× in this paper
• Statistical Outlier Removal — 3× in this paper
• Active Perception — 2× in this paper · explained in 2 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Iterative Closest Point — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• AgriSEE Next Best View — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Robot Operating System — 1× in this paper
• Root Mean Square Error — 1× in this paper
• Tool Center Point — 1× in this paper
• Transferability — 1× in this paper · explained in 4 episodes
• Unified Robot Description Format — 1× in this paper

Sources

• GreenSeg: Ground Segmentation Algorithm for Agricultural Robots in Mediterranean Greenhouses using RGB-D Point Clouds
• Integrated cloud-based architecture for robot-robot and human-robot collaboration using ROS 2--MQTT in Mediterranean Greenhouses

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