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Robotic 3D Flower Pose Estimation for Small-Scale Urban Farms
Harsh Muriki, Hong Ray Teo, Ved Sengupta, Ai-Ping Hu
https://arxiv.org/abs/2509.02870 https://

Robotic 3D Flower Pose Estimation for Small-Scale Urban Farms
The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera end-effector to estimate strawberry plant flower pose (for robotic pollination) from acquired 3D point cloud models. We describe a novel algorithm that translates individual occupancy grids along orthogonal axes of a point cloud to obtain 2D images corresponding …