Sparse 3D Perception for Rose Harvesting Robots: A Two-Stage Approach Bridging Simulation and Real-World Applications

• URL: http://arxiv.org/abs/2508.00900v1
• Date: Mon, 28 Jul 2025 16:09:34 GMT
• Title: Sparse 3D Perception for Rose Harvesting Robots: A Two-Stage Approach Bridging Simulation and Real-World Applications
• Authors: Taha Samavati, Mohsen Soryani, Sina Mansouri,
• Abstract summary: medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability.<n>We propose a novel 3D perception pipeline tailored for flower-harvesting robots, focusing on sparse 3D localization of rose centers.<n>Our two-stage algorithm first performs 2D point-based detection on stereo images, followed by depth estimation using a lightweight deep neural network.
• Score: 0.5407319151576264
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for flower-harvesting robots, focusing on sparse 3D localization of rose centers. Our two-stage algorithm first performs 2D point-based detection on stereo images, followed by depth estimation using a lightweight deep neural network. To overcome the challenge of scarce real-world labeled data, we introduce a photorealistic synthetic dataset generated via Blender, simulating a dynamic rose farm environment with precise 3D annotations. This approach minimizes manual labeling costs while enabling robust model training. We evaluate two depth estimation paradigms: a traditional triangulation-based method and our proposed deep learning framework. Results demonstrate the superiority of our method, achieving an F1 score of 95.6% (synthetic) and 74.4% (real) in 2D detection, with a depth estimation error of 3% at a 2-meter range on synthetic data. The pipeline is optimized for computational efficiency, ensuring compatibility with resource-constrained robotic systems. By bridging the domain gap between synthetic and real-world data, this work advances agricultural automation for specialty crops, offering a scalable solution for precision harvesting.

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