DAVIS-Ag: A Synthetic Plant Dataset for Prototyping Domain-Inspired Active Vision in Agricultural Robots
arXiv (Cornell University)(2023)
摘要
In agricultural environments, viewpoint planning can be a critical
functionality for a robot with visual sensors to obtain informative
observations of objects of interest (e.g., fruits) from complex structures of
plant with random occlusions. Although recent studies on active vision have
shown some potential for agricultural tasks, each model has been designed and
validated on a unique environment that would not easily be replicated for
benchmarking novel methods being developed later. In this paper, we introduce a
dataset, so-called DAVIS-Ag, for promoting more extensive research on
Domain-inspired Active VISion in Agriculture. To be specific, we leveraged our
open-source "AgML" framework and 3D plant simulator of "Helios" to produce 502K
RGB images from 30K densely sampled spatial locations in 632 synthetic
orchards. Moreover, plant environments of strawberries, tomatoes, and grapes
are considered at two different scales (i.e., Single-Plant and Multi-Plant).
Useful labels are also provided for each image, including (1) bounding boxes
and (2) instance segmentation masks for all identifiable fruits, and also (3)
pointers to other images of the viewpoints that are reachable by an execution
of action so as to simulate active viewpoint selections at each time step.
Using DAVIS-Ag, we visualize motivating examples where fruit detection rates
can dramatically change depending on the pose of the camera view primarily due
to occlusions by other components, such as leaves. Furthermore, we present
several baseline models with experiment results for benchmarking in the task of
target visibility maximization. Transferability to real strawberry environments
is also investigated to demonstrate the feasibility of using the dataset for
prototyping real-world solutions. For future research, our dataset is made
publicly available online: https://github.com/ctyeong/DAVIS-Ag.
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关键词
synthetic plant dataset,active vision,robots,domain-inspired
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