Creating a Segmented Pointcloud of Grapevines by Combining Multiple Viewpoints Through Visual Odometry
This work addresses the need for skilled labor in agriculture by automating a complex and repetitive pruning process, though it appears incremental as it builds on existing segmentation and odometry methods.
The paper tackled the labor-intensive task of grapevine winter pruning by developing a computer vision pipeline that combines multiple viewpoints through visual odometry to create a segmented pointcloud, enabling informed pruning decisions.
Grapevine winter pruning is a labor-intensive and repetitive process that significantly influences the quality and quantity of the grape harvest and produced wine of the following season. It requires a careful and expert detection of the point to be cut. Because of its complexity, repetitive nature and time constraint, the task requires skilled labor that needs to be trained. This extended abstract presents the computer vision pipeline employed in project Vinum, using detectron2 as a segmentation network and keypoint visual odometry to merge different observation into a single pointcloud used to make informed pruning decisions.