{"id":"https://openalex.org/W4401417242","doi":"https://doi.org/10.1109/icra57147.2024.10610226","title":"Autonomous Apple Fruitlet Sizing with Next Best View Planning","display_name":"Autonomous Apple Fruitlet Sizing with Next Best View Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417242","doi":"https://doi.org/10.1109/icra57147.2024.10610226"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109560922","display_name":"Harry Freeman","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Freeman","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15847","last_page":"15853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9864000082015991,"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":0.9864000082015991,"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/sizing","display_name":"Sizing","score":0.722506582736969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5854251980781555},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.079395592212677},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.06442752480506897}],"concepts":[{"id":"https://openalex.org/C2777767291","wikidata":"https://www.wikidata.org/wiki/Q1080291","display_name":"Sizing","level":2,"score":0.722506582736969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5854251980781555},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.079395592212677},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.06442752480506897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610226","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2005660297","https://openalex.org/W2075900721","https://openalex.org/W2119842211","https://openalex.org/W2125188427","https://openalex.org/W2167340365","https://openalex.org/W2222512263","https://openalex.org/W2425534297","https://openalex.org/W2773779066","https://openalex.org/W2791580684","https://openalex.org/W2886499109","https://openalex.org/W2943994693","https://openalex.org/W2952110468","https://openalex.org/W2967663764","https://openalex.org/W3003545971","https://openalex.org/W3119304907","https://openalex.org/W3211114069","https://openalex.org/W4226265017","https://openalex.org/W4283317659","https://openalex.org/W4312228941","https://openalex.org/W4383108703","https://openalex.org/W4383108941","https://openalex.org/W4389666779","https://openalex.org/W6636808768","https://openalex.org/W6637131181","https://openalex.org/W6679621375","https://openalex.org/W6735463952","https://openalex.org/W6745213236","https://openalex.org/W6755424560","https://openalex.org/W6785023058","https://openalex.org/W6803376173","https://openalex.org/W6804625528","https://openalex.org/W6839843499","https://openalex.org/W6842480768"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2375311683","https://openalex.org/W2366062860","https://openalex.org/W2373777250","https://openalex.org/W2353956655","https://openalex.org/W2020653254","https://openalex.org/W2010454064","https://openalex.org/W2352072014","https://openalex.org/W217279133"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,80,132],"present":[4],"a":[5,82,114,158],"next-best-view":[6],"planning":[7],"approach":[8,120],"to":[9,21,42,68,91,106,123,142],"autonomously":[10],"size":[11,22],"apple":[12],"fruitlets.":[13],"State-of-the-art":[14],"viewpoint":[15,53,136],"planners":[16],"in":[17,162],"agriculture":[18],"are":[19],"designed":[20],"large":[23],"and":[24,35,99,117,147],"more":[25,69],"sparsely":[26],"populated":[27],"fruit.":[28,111],"They":[29],"rely":[30],"on":[31,154],"lower":[32],"resolution":[33,104],"maps":[34],"sizing":[36,139],"methods":[37],"that":[38,73,88,134],"do":[39],"not":[40],"generalize":[41],"smaller":[43],"fruit":[44,125],"sizes.":[45],"To":[46],"overcome":[47],"these":[48],"limitations,":[49],"our":[50,135],"method":[51],"combines":[52],"sampling":[54],"around":[55,109],"semantically":[56],"labeled":[57],"regions":[58],"of":[59,85,144],"interest,":[60],"along":[61],"with":[62],"an":[63],"attention-guided":[64],"information":[65],"gain":[66],"mechanism":[67],"strategically":[70],"select":[71],"viewpoints":[72],"target":[74],"the":[75,86,101,110,145,163],"small":[76],"fruits\u2019":[77],"volume.":[78],"Additionally,":[79],"integrate":[81],"dual-map":[83],"representation":[84],"environment":[87],"is":[89,121],"able":[90],"both":[92],"speed":[93],"up":[94],"expensive":[95],"ray":[96],"casting":[97],"operations":[98],"maintain":[100],"high":[102],"occupancy":[103],"required":[105],"informatively":[107],"plan":[108],"When":[112],"sizing,":[113],"robust":[115],"estimation":[116],"graph":[118],"clustering":[119],"introduced":[122],"associate":[124],"detections":[126],"across":[127],"images.":[128],"Through":[129],"simulated":[130],"experiments,":[131],"demonstrate":[133],"planner":[137],"improves":[138],"accuracy":[140],"compared":[141],"state":[143],"art":[146],"ablations.":[148],"We":[149],"also":[150],"provide":[151],"quantitative":[152],"results":[153],"data":[155],"collected":[156],"by":[157],"real":[159],"robotic":[160],"system":[161],"field.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}