تقرير
A comparison between single-stage and two-stage 3D tracking algorithms for greenhouse robotics
| العنوان: | A comparison between single-stage and two-stage 3D tracking algorithms for greenhouse robotics |
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| المؤلفون: | Rapado-Rincon, David, Burusa, Akshay K., van Henten, Eldert J., Kootstra, Gert |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | With the current demand for automation in the agro-food industry, accurately detecting and localizing relevant objects in 3D is essential for successful robotic operations. However, this is a challenge due the presence of occlusions. Multi-view perception approaches allow robots to overcome occlusions, but a tracking component is needed to associate the objects detected by the robot over multiple viewpoints. Multi-object tracking (MOT) algorithms can be categorized between two-stage and single-stage methods. Two-stage methods tend to be simpler to adapt and implement to custom applications, while single-stage methods present a more complex end-to-end tracking method that can yield better results in occluded situations at the cost of more training data. The potential advantages of single-stage methods over two-stage methods depends on the complexity of the sequence of viewpoints that a robot needs to process. In this work, we compare a 3D two-stage MOT algorithm, 3D-SORT, against a 3D single-stage MOT algorithm, MOT-DETR, in three different types of sequences with varying levels of complexity. The sequences represent simpler and more complex motions that a robot arm can perform in a tomato greenhouse. Our experiments in a tomato greenhouse show that the single-stage algorithm consistently yields better tracking accuracy, especially in the more challenging sequences where objects are fully occluded or non-visible during several viewpoints. Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2404.12963 |
| رقم الأكسشن: | edsarx.2404.12963 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |