{"id":"https://openalex.org/W4413925491","doi":"https://doi.org/10.1109/icra55743.2025.11127557","title":"Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception","display_name":"Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925491","doi":"https://doi.org/10.1109/icra55743.2025.11127557"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115505068","display_name":"Kendall Koe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":true,"raw_author_name":"Kendall Koe","raw_affiliation_strings":["Computer Science,USA"],"affiliations":[{"raw_affiliation_string":"Computer Science,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047614582","display_name":"Purav Shah","orcid":"https://orcid.org/0000-0002-0113-5690"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Poojan Kalpeshbhai Shah","raw_affiliation_strings":["Mechanical Science and Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039547659","display_name":"Benjamin Walt","orcid":"https://orcid.org/0000-0001-5427-3686"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Benjamin Walt","raw_affiliation_strings":["Mechanical Science and Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109096001","display_name":"J. A. Westphal","orcid":"https://orcid.org/0000-0003-1275-8540"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Jordan Westphal","raw_affiliation_strings":["Mechanical Science and Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046375989","display_name":"Samhita Marri","orcid":"https://orcid.org/0000-0001-7706-617X"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Samhita Marri","raw_affiliation_strings":["Electrical and Computer Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011496132","display_name":"Shivani Kamtikar","orcid":"https://orcid.org/0000-0002-3879-4833"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Shivani Kamtikar","raw_affiliation_strings":["Computer Science,USA"],"affiliations":[{"raw_affiliation_string":"Computer Science,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101784342","display_name":"James Seungbum Nam","orcid":"https://orcid.org/0000-0002-2050-3794"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"James Seungbum Nam","raw_affiliation_strings":["Mechanical Science and Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035933918","display_name":"Naveen Kumar Uppalapati","orcid":"https://orcid.org/0000-0001-6817-6668"},"institutions":[{"id":"https://openalex.org/I19908199","display_name":"National Center for Supercomputing Applications","ror":"https://ror.org/03g9ch715","country_code":"BG","type":"facility","lineage":["https://openalex.org/I19908199"]}],"countries":["BG"],"is_corresponding":false,"raw_author_name":"Naveen Kumar Uppalapati","raw_affiliation_strings":["National Center for Supercomputing Applications,USA"],"affiliations":[{"raw_affiliation_string":"National Center for Supercomputing Applications,USA","institution_ids":["https://openalex.org/I19908199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Computer Science,USA"],"affiliations":[{"raw_affiliation_string":"Computer Science,USA","institution_ids":["https://openalex.org/I4210116091"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050432620","display_name":"Girish Krishnan","orcid":"https://orcid.org/0000-0002-1005-2862"},"institutions":[{"id":"https://openalex.org/I4210116091","display_name":"Department of Physics, Mathematics and Informatics","ror":"https://ror.org/023sm4k53","country_code":"BY","type":"facility","lineage":["https://openalex.org/I151823869","https://openalex.org/I4210116091"]}],"countries":["BY"],"is_corresponding":false,"raw_author_name":"Girish Krishnan","raw_affiliation_strings":["Mechanical Science and Engineering,USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I4210116091"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5115505068"],"corresponding_institution_ids":["https://openalex.org/I4210116091"],"apc_list":null,"apc_paid":null,"fwci":10.3258,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.97700392,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13153","last_page":"13159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.975600004196167,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.963100016117096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6522018313407898},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6517753005027771},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5666062235832214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5527134537696838},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4863017499446869}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6522018313407898},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6517753005027771},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5666062235832214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5527134537696838},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4863017499446869},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1462804123","display_name":null,"funder_award_id":"DBI-2019674","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2039680168","https://openalex.org/W2551680314","https://openalex.org/W2562021215","https://openalex.org/W2593868148","https://openalex.org/W2741594796","https://openalex.org/W2942018315","https://openalex.org/W2943966599","https://openalex.org/W2968952932","https://openalex.org/W3126385256","https://openalex.org/W4226156410","https://openalex.org/W4250439049","https://openalex.org/W4285197720","https://openalex.org/W4297860174","https://openalex.org/W4312987326","https://openalex.org/W4313142803","https://openalex.org/W4380986931","https://openalex.org/W4383108943","https://openalex.org/W4385962921","https://openalex.org/W4385962981","https://openalex.org/W4386076325","https://openalex.org/W4394878133","https://openalex.org/W4401413901","https://openalex.org/W4403060992","https://openalex.org/W4405785689"],"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":{"Due":[0],"to":[1,13],"labor":[2],"shortages":[3],"in":[4,26,39,85,99],"specialty":[5],"crop":[6],"industries,":[7],"a":[8,42,54,59,64],"need":[9],"for":[10],"robotic":[11],"automation":[12],"increase":[14],"agricultural":[15],"efficiency":[16],"and":[17,28,37,50,63,79],"productivity":[18],"has":[19],"arisen.":[20],"Previous":[21],"manipulation":[22],"systems":[23,49],"harvest":[24],"well":[25],"uncluttered":[27],"structured":[29],"environments.":[30],"High":[31],"tunnel":[32],"environments":[33],"are":[34],"more":[35],"compact":[36],"cluttered":[38],"nature,":[40],"requiring":[41],"rethinking":[43],"of":[44,72,95],"the":[45],"large":[46],"form":[47],"factor":[48],"grippers.":[51],"We":[52],"propose":[53],"novel":[55],"co-designed":[56],"framework":[57],"incorporating":[58],"global":[60],"detection":[61],"camera":[62,67],"local":[65],"eye-in-hand":[66],"that":[68,89],"demonstrates":[69],"precise":[70],"localization":[71],"small":[73],"fruits":[74],"via":[75],"closed-loop":[76],"visual":[77],"feedback":[78],"reliable":[80],"error":[81],"handling.":[82],"Field":[83],"experiments":[84],"high":[86],"tunnels":[87],"show":[88],"our":[90],"system":[91],"can":[92],"reach":[93],"85.0%":[94],"cherry":[96],"tomato":[97],"fruit":[98],"10.98s":[100],"on":[101],"average.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}