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Spatial pose estimation algorithm for orchard obscured apple for picking robots
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AI
DOI：10.1016/j.eswa.2026.133911.png)
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Abstract
En 中文
• A planar fruit axis mapping model based on geometric specificity of Red Fuji apple is developed. • A dual-modal adaptive angle fusion strategy based on “global contour and local depth” is proposed. • The end-to-end pose resolution from 2D orientation features to 3D picking control is achieved.
Keywords:
Applepickingrobot
Poseestimation
YOLOv11-OBB
Depthgradient
Spatialgeometry
Journal
IF:
7.5
Papers:
2.9W
Citations:
10.2W