{"id":"https://openalex.org/W3095287063","doi":"https://doi.org/10.1109/icra48506.2021.9562047","title":"PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention","display_name":"PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3095287063","doi":"https://doi.org/10.1109/icra48506.2021.9562047","mag":"3095287063"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","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/2010.16272","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076526356","display_name":"Claus Smitt","orcid":"https://orcid.org/0000-0001-6177-6601"},"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":"Claus Smitt","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/A5046879011","display_name":"Michael Halstead","orcid":"https://orcid.org/0000-0001-7185-9304"},"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":"Michael Halstead","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/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":false,"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/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"]}]},{"author_position":"last","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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5076526356"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.4432,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.72579574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2324","last_page":"2330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9764000177383423,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"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/odometry","display_name":"Odometry","score":0.6819750070571899},{"id":"https://openalex.org/keywords/greenhouse","display_name":"Greenhouse","score":0.6447687149047852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5462916493415833},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5414595007896423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47405192255973816},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.462520956993103},{"id":"https://openalex.org/keywords/crop","display_name":"Crop","score":0.4391205906867981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4232312738895416},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.41769149899482727},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4004143476486206},{"id":"https://openalex.org/keywords/agricultural-engineering","display_name":"Agricultural engineering","score":0.39772936701774597},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35798147320747375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27740031480789185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2386769950389862},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1944533884525299},{"id":"https://openalex.org/keywords/agronomy","display_name":"Agronomy","score":0.0978037416934967},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07209008932113647}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6819750070571899},{"id":"https://openalex.org/C32198211","wikidata":"https://www.wikidata.org/wiki/Q165044","display_name":"Greenhouse","level":2,"score":0.6447687149047852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5462916493415833},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5414595007896423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47405192255973816},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.462520956993103},{"id":"https://openalex.org/C137580998","wikidata":"https://www.wikidata.org/wiki/Q235352","display_name":"Crop","level":2,"score":0.4391205906867981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4232312738895416},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.41769149899482727},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4004143476486206},{"id":"https://openalex.org/C88463610","wikidata":"https://www.wikidata.org/wiki/Q194118","display_name":"Agricultural engineering","level":1,"score":0.39772936701774597},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35798147320747375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27740031480789185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2386769950389862},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1944533884525299},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0978037416934967},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07209008932113647},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97137747","wikidata":"https://www.wikidata.org/wiki/Q38112","display_name":"Forestry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9562047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2010.16272","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.16272","pdf_url":"https://arxiv.org/pdf/2010.16272","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":"","raw_type":"text"},{"id":"mag:3095287063","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2010.16272.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.2010.16272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.16272","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:2010.16272","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.16272","pdf_url":"https://arxiv.org/pdf/2010.16272","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":"","raw_type":"text"},"sustainable_development_goals":[],"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/G4817847958","display_name":null,"funder_award_id":"Future","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/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/W3095287063.pdf","grobid_xml":"https://content.openalex.org/works/W3095287063.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1969360844","https://openalex.org/W2033819227","https://openalex.org/W2183013935","https://openalex.org/W2501369945","https://openalex.org/W2523049145","https://openalex.org/W2573063466","https://openalex.org/W2765432161","https://openalex.org/W2809489825","https://openalex.org/W2920621226","https://openalex.org/W2956887593","https://openalex.org/W2962782553","https://openalex.org/W2963150697","https://openalex.org/W2963956866","https://openalex.org/W2967789058","https://openalex.org/W2991216808","https://openalex.org/W2997692196","https://openalex.org/W3003545971","https://openalex.org/W3004299129","https://openalex.org/W3036371522","https://openalex.org/W3096922261","https://openalex.org/W3099155473","https://openalex.org/W3130077877","https://openalex.org/W3134010067","https://openalex.org/W3205684184","https://openalex.org/W6777364864","https://openalex.org/W6785023058","https://openalex.org/W6790945250","https://openalex.org/W6791791368","https://openalex.org/W6803123449"],"related_works":["https://openalex.org/W3205636718","https://openalex.org/W2976458744","https://openalex.org/W3202731770","https://openalex.org/W3020970166","https://openalex.org/W2890071150","https://openalex.org/W3034498833","https://openalex.org/W2990916552","https://openalex.org/W2767017481","https://openalex.org/W3080577972","https://openalex.org/W2891159043","https://openalex.org/W3086862194","https://openalex.org/W2953326353","https://openalex.org/W2968554692","https://openalex.org/W2950814059","https://openalex.org/W2769588662","https://openalex.org/W3212129965","https://openalex.org/W2804873477","https://openalex.org/W2263275936","https://openalex.org/W3026388681","https://openalex.org/W2890690509"],"abstract_inverted_index":{"We":[0,93,117],"present":[1,149],"PATHoBot":[2,63,96],"an":[3,36,41,131,142],"autonomous":[4],"crop":[5,158],"surveying":[6,54,78,159],"and":[7,25,48,56,91,114,123],"intervention":[8],"robot":[9],"for":[10,52],"glasshouse":[11,74],"environments.":[12],"The":[13],"aim":[14],"of":[15,43,84,134],"this":[16,33,59],"platform":[17,79],"is":[18],"to":[19,67,129],"autonomously":[20],"gather":[21],"high":[22],"quality":[23],"data":[24],"also":[26],"estimate":[27],"key":[28],"phenotypic":[29],"parameters.":[30],"To":[31],"achieve":[32,130],"we":[34,61,80,126,148],"retro-fit":[35],"off-the-shelf":[37],"pipe-rail":[38],"trolley":[39],"with":[40],"array":[42],"multi-modal":[44],"cameras,":[45],"navigation":[46],"sensors":[47],"a":[49,72,77,82,150],"robotic":[50],"arm":[51],"close":[53],"tasks":[55],"intervention.":[57],"In":[58],"paper":[60],"describe":[62],"design":[64],"choices":[65],"made":[66],"ensure":[68],"proper":[69],"operation":[70],"in":[71,141],"commercial":[73],"environment.":[75],"As":[76],"collect":[81],"number":[83],"datasets":[85],"which":[86],"include":[87],"both":[88],"sweet":[89],"pepper":[90],"tomatoes.":[92],"show":[94],"how":[95],"enables":[97],"novel":[98],"surveillance":[99],"approaches":[100],"by":[101,110,120],"first":[102],"improving":[103],"our":[104],"previous":[105],"work":[106],"on":[107],"fruit":[108],"counting":[109],"incorporating":[111],"wheel":[112],"odometry":[113],"depth":[115,124],"information.":[116],"find":[118],"that":[119],"introducing":[121],"re-projection":[122],"information":[125],"are":[127],"able":[128],"absolute":[132],"improvement":[133],"20":[135],"points":[136],"over":[137],"the":[138,144],"baseline":[139],"technique":[140],"\"in":[143],"wild\"":[145],"situation.":[146],"Finally,":[147],"3D":[151],"mapping":[152],"case":[153],"study,":[154],"further":[155],"showcasing":[156],"PATHoBot&#x2019;s":[157],"capabilities.":[160]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
