{"id":"https://openalex.org/W4366609682","doi":"https://doi.org/10.1016/j.compag.2023.107834","title":"ORB-Livox: A real-time dynamic system for fruit detection and localization","display_name":"ORB-Livox: A real-time dynamic system for fruit detection and localization","publication_year":2023,"publication_date":"2023-04-21","ids":{"openalex":"https://openalex.org/W4366609682","doi":"https://doi.org/10.1016/j.compag.2023.107834"},"language":"en","primary_location":{"id":"doi:10.1016/j.compag.2023.107834","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2023.107834","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.compag.2023.107834","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072350017","display_name":"Tianhao Liu","orcid":"https://orcid.org/0000-0002-3997-756X"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tianhao Liu","raw_affiliation_strings":["Department of Aerospace and Mechanical, Monash University, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038896099","display_name":"Hanwen Kang","orcid":"https://orcid.org/0000-0001-5553-9239"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hanwen Kang","raw_affiliation_strings":["Department of Aerospace and Mechanical, Monash University, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100408325","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0001-9533-7340"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Chao Chen","raw_affiliation_strings":["Department of Aerospace and Mechanical, Monash University, Australia"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical, Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100408325"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":{"value":3680,"currency":"USD","value_usd":3680},"apc_paid":{"value":3680,"currency":"USD","value_usd":3680},"fwci":19.5908,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99322113,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"209","issue":null,"first_page":"107834","last_page":"107834"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10640","display_name":"Spectroscopy and Chemometric Analyses","score":0.9725000262260437,"subfield":{"id":"https://openalex.org/subfields/1602","display_name":"Analytical Chemistry"},"field":{"id":"https://openalex.org/fields/16","display_name":"Chemistry"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9139000177383423,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.8002501726150513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48939600586891174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4540281593799591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4145694375038147},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4039989411830902},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3916013240814209}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8002501726150513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48939600586891174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4540281593799591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4145694375038147},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4039989411830902},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3916013240814209},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.compag.2023.107834","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2023.107834","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.compag.2023.107834","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.compag.2023.107834","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G784608299","display_name":null,"funder_award_id":"ARC ITRH IH150100006","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1852010566","https://openalex.org/W2048269893","https://openalex.org/W2072150826","https://openalex.org/W2074658631","https://openalex.org/W2102605133","https://openalex.org/W2517787242","https://openalex.org/W2551307664","https://openalex.org/W2611227133","https://openalex.org/W2751950834","https://openalex.org/W2790979755","https://openalex.org/W2793187686","https://openalex.org/W2889862537","https://openalex.org/W2910395230","https://openalex.org/W2936307272","https://openalex.org/W2953151638","https://openalex.org/W2963037989","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2998587218","https://openalex.org/W3043971245","https://openalex.org/W3091091831","https://openalex.org/W3103049166","https://openalex.org/W3112071072","https://openalex.org/W3127361403","https://openalex.org/W3173018040","https://openalex.org/W3180134609","https://openalex.org/W4210423514","https://openalex.org/W4225422827","https://openalex.org/W4241307704","https://openalex.org/W4280489518","https://openalex.org/W4287848462","https://openalex.org/W4376502360","https://openalex.org/W6620707391","https://openalex.org/W6669223668","https://openalex.org/W6677308130","https://openalex.org/W6749932453","https://openalex.org/W6760545774","https://openalex.org/W6767972787","https://openalex.org/W6785652829","https://openalex.org/W6798918574","https://openalex.org/W6800344484"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Accurate":[0],"fruit":[1,25,38,77,98,106],"localization":[2,26,39,47,78,99,107,190],"plays":[3],"an":[4,20,83,112,209],"essential":[5,84],"role":[6],"in":[7,27,40,133,176,208,225],"many":[8],"agricultural":[9],"tasks":[10],"and":[11,178,219],"is":[12,43,51,82,101,116,128,138,157,173,192],"one":[13],"of":[14,19,144,183,197],"the":[15,34,91,120,142,154,161,188,198],"most":[16],"vital":[17],"components":[18],"autonomous":[21],"harvesting":[22,92],"robot.":[23],"Although":[24],"stationary":[28],"conditions":[29,42,50,81,166,224],"has":[30],"been":[31],"extensively":[32,174],"studied,":[33],"method":[35,100,172,216],"to":[36,68,103,118,130,140,159,167],"perform":[37,104],"dynamic":[41,49,80,109,124,165,223],"rarely":[44],"studied.":[45],"Fruit":[46],"under":[48,79,108,123,164,222],"much":[52],"more":[53],"challenging,":[54],"since":[55,86],"movement":[56],"will":[57],"introduce":[58],"continuously":[59],"irregular":[60],"ego-motion":[61],"on":[62,153],"visual":[63],"sensors,":[64],"which":[65],"can":[66,88,217],"lead":[67],"considerable":[69],"accuracy":[70,162],"degeneration":[71],"or":[72],"even":[73],"system":[74],"failure.":[75],"However,":[76],"task":[85],"it":[87],"significantly":[89],"improve":[90],"efficiency.":[93],"In":[94],"this":[95],"study,":[96],"a":[97,149],"proposed":[102,158,215],"accurate":[105],"conditions.":[110,125],"Firstly,":[111],"ORB-SLAM3":[113],"SLAM":[114],"algorithm":[115],"utilized":[117],"estimate":[119],"camera\u2019s":[121],"pose":[122],"Secondly,":[126],"YOLO-V5":[127],"used":[129,139],"identify":[131],"apples":[132,221],"RGB":[134],"images.":[135],"Moreover,":[136],"Lidar":[137],"measure":[141],"depth":[143],"each":[145],"apple":[146,169],"accurately.":[147],"Finally,":[148],"clustering":[150],"technique":[151],"based":[152],"Gaussian":[155],"distribution":[156],"mitigate":[160],"loss":[163],"optimize":[168],"positions.":[170],"Our":[171],"evaluated":[175],"indoor":[177,184],"outdoor":[179],"experiments.":[180],"The":[181,205],"results":[182],"experiments":[185],"show":[186],"that":[187,213],"average":[189],"error":[191],"21.1":[193],"mm,":[194],"with":[195],"90%":[196],"errors":[199],"are":[200],"less":[201],"than":[202],"30":[203],"mm.":[204],"experimental":[206],"result":[207],"orchard":[210],"environment":[211],"demonstrates":[212],"our":[214],"detect":[218],"localize":[220],"unstructured":[226],"natural":[227],"environments.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
