Demo Data from EDBT 2026 / reviewers in the wild / expert
Akshay K. Burusa
dblp:322/8375
· DBLP profile ↗
1ranked-venue papers
1as first author
1since 2021 · last 2024
0000-0001-7278-5829ORCID · reported
Domains — the database's venue-derived domains; a paper can count in several
Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021
Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.
| Artificial intelligence
1 paper |
Robot navigation and mapping · 77% Legged, aerial and field robots · 23% |
Topics — the 2 heaviest of 2, each with the papers that count most for it
| Topic | Weight | Papers | Last | Evidence papers |
|---|---|---|---|---|
Robotics › Robot navigation and mapping › view planning
next-best-view planning |
0.8 | 1 | 2024 | Gradient-based Local Next-best-view Planning for Improved Perception of Targeted Plant Nodes · ICRA 2024 |
Robotics › Legged, aerial and field robots › field robotics
agricultural robotics |
0.2 | 1 | 2024 | Gradient-based Local Next-best-view Planning for Improved Perception of Targeted Plant Nodes · ICRA 2024 |
Methods — techniques the papers use, named apart from their topics
differentiable ray sampling · 0.8
| Year | Publication | Venue | Position |
|---|---|---|---|
| 2024 | Gradient-based Local Next-best-view Planning for Improved Perception of Targeted Plant NodesabstractRobots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need to be cut, despite the high levels of occlusion from other plant parts. We formulate this problem as a local next-best-view (NBV) planning task where the robot has to plan an efficient set of camera viewpoints to overcome occlusion and improve the quality of perception. Our formulation focuses on quickly improving the perception accuracy of a single target node to maximise its chances of being cut. Previous methods of NBV planning mostly focused on global view planning and used random sampling of candidate viewpoints for exploration, which could suffer from high computational costs, ineffective view selection due to poor candidates, or non-smooth trajectories due to inefficient sampling. We propose a gradient-based NBV planner using differentiable ray sampling, which directly estimates the local gradient direction for viewpoint planning to overcome occlusion and improve perception. Through simulation experiments, we showed that our planner can handle occlusions and improve the 3D reconstruction and position estimation of nodes equally well as a sampling-based NBV planner, while taking ten times less computation and generating 28% more efficient trajectories. Akshay K. Burusa, Eldert J. van Henten, Gert Kootstra |
ICRA | 1 |