{"id":"https://openalex.org/W3196285610","doi":"https://doi.org/10.1109/ecmr50962.2021.9568836","title":"Combining Local and Global Viewpoint Planning for Fruit Coverage","display_name":"Combining Local and Global Viewpoint Planning for Fruit Coverage","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3196285610","doi":"https://doi.org/10.1109/ecmr50962.2021.9568836","mag":"3196285610"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.08114","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035238211","display_name":"Tobias Zaenker","orcid":"https://orcid.org/0000-0002-8485-2192"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tobias Zaenker","raw_affiliation_strings":["University of Bonn,Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081617215","display_name":"Chris Lehnert","orcid":"https://orcid.org/0000-0002-4230-8068"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chris Lehnert","raw_affiliation_strings":["University of Bonn,Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007627004","display_name":"Chris McCool","orcid":"https://orcid.org/0000-0002-0577-1299"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chris McCool","raw_affiliation_strings":["University of Bonn,Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035238211"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32205712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.6043763160705566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5969851016998291},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5590032339096069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5577789545059204},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5427515506744385},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.542106568813324},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.4969053566455841},{"id":"https://openalex.org/keywords/occlusion","display_name":"Occlusion","score":0.43495437502861023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11052772402763367},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.07863840460777283}],"concepts":[{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.6043763160705566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5969851016998291},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5590032339096069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5577789545059204},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5427515506744385},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.542106568813324},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.4969053566455841},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.43495437502861023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11052772402763367},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.07863840460777283},{"id":"https://openalex.org/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2108.08114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.08114","pdf_url":"https://arxiv.org/pdf/2108.08114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3196285610","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2108.08114.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2108.08114","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2108.08114","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2108.08114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.08114","pdf_url":"https://arxiv.org/pdf/2108.08114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G3109397799","display_name":null,"funder_award_id":"EXC 2070","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G5106512922","display_name":null,"funder_award_id":"Deutsche Forschungsgemeinschaft (DFG","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G5535705494","display_name":null,"funder_award_id":"EXC 2070 -390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6637089785","display_name":null,"funder_award_id":"390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"},{"id":"https://openalex.org/F4320324900","display_name":"Rheinische Friedrich-Wilhelms-Universit\u00e4t Bonn","ror":"https://ror.org/041nas322"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3196285610.pdf","grobid_xml":"https://content.openalex.org/works/W3196285610.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1981041269","https://openalex.org/W2068127265","https://openalex.org/W2102505197","https://openalex.org/W2130706967","https://openalex.org/W2133844819","https://openalex.org/W2150241776","https://openalex.org/W2409009991","https://openalex.org/W2587175508","https://openalex.org/W2605843382","https://openalex.org/W2783763601","https://openalex.org/W2790043118","https://openalex.org/W2915732616","https://openalex.org/W2955836939","https://openalex.org/W2967663764","https://openalex.org/W3003545971","https://openalex.org/W3003871040","https://openalex.org/W3004187019","https://openalex.org/W3083648773","https://openalex.org/W3096922261","https://openalex.org/W6785023058"],"related_works":["https://openalex.org/W3211114069","https://openalex.org/W2971568330","https://openalex.org/W4288431","https://openalex.org/W2611339630","https://openalex.org/W2244095025","https://openalex.org/W1568130538","https://openalex.org/W762789590","https://openalex.org/W2288652446","https://openalex.org/W137945623","https://openalex.org/W1547578303","https://openalex.org/W2483000560","https://openalex.org/W1600081091","https://openalex.org/W2343073158","https://openalex.org/W2619550952","https://openalex.org/W62142990","https://openalex.org/W344605959","https://openalex.org/W1526992564","https://openalex.org/W2981353488","https://openalex.org/W85318599","https://openalex.org/W2939891431"],"abstract_inverted_index":{"Obtaining":[0],"3D":[1],"sensor":[2,52],"data":[3],"of":[4,26,33,38,54,66,72,91,122,181,184],"complete":[5],"plants":[6],"or":[7,13],"plant":[8],"parts":[9],"(e.g.,":[10],"the":[11,31,34,55,70,89,95,182],"crop":[12],"fruit)":[14],"is":[15,41],"difficult":[16],"due":[17],"to":[18,43,68,75,130,140,149,176,187],"their":[19],"complex":[20],"structure":[21],"and":[22,36,50,85],"a":[23,64,76,119,132,157,162,177],"high":[24],"degree":[25],"occlusion.":[27],"However,":[28],"especially":[29],"for":[30],"estimation":[32],"position":[35],"size":[37],"fruits,":[39],"it":[40],"necessary":[42],"avoid":[44],"occlusions":[45],"as":[46,48,165,167],"much":[47],"possible":[49],"acquire":[51],"information":[53],"relevant":[56],"parts.":[57],"Global":[58],"viewpoint":[59,138],"planners":[60],"exist":[61],"that":[62,101,172],"suggest":[63],"series":[65],"viewpoints":[67],"cover":[69,150],"regions":[71,183],"interest":[73,185],"up":[74],"certain":[77],"degree,":[78],"but":[79,107],"they":[80,108,116],"usually":[81],"prioritize":[82],"global":[83,137,190],"coverage":[84,180,191],"do":[86],"not":[87],"emphasize":[88],"avoidance":[90,144],"local":[92,105,120,142],"occlusions.":[93],"On":[94],"other":[96],"hand,":[97],"there":[98],"are":[99],"approaches":[100],"aim":[102],"at":[103],"avoiding":[104],"occlusions,":[106],"cannot":[109],"be":[110],"used":[111],"in":[112],"larger":[113],"environments":[114],"since":[115],"only":[117],"reach":[118],"maximum":[121],"coverage.":[123],"In":[124],"this":[125,173],"paper,":[126],"we":[127],"therefore":[128],"propose":[129],"combine":[131],"local,":[133],"gradient-based":[134],"method":[135],"with":[136,156,161],"planning":[139],"enable":[141],"occlusion":[143],"while":[145],"still":[146],"being":[147],"able":[148],"large":[151],"areas.":[152],"Our":[153],"simulated":[154],"experiments":[155],"robotic":[158],"arm":[159],"equipped":[160],"camera":[163,170],"array":[164],"well":[166],"an":[168],"RGB-D":[169],"show":[171],"combination":[174],"leads":[175],"significantly":[178],"increased":[179],"compared":[186],"just":[188],"applying":[189],"planning.":[192]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}