Multi-fruit tracking and 3-D structure recovery via CoTracker.

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dc.contributorTHIAGO TEIXEIRA SANTOS, CNPTIA.
dc.creatorSANTOS, T. T.
dc.date2026-06-01T14:48:51Z
dc.date2026-06-01T14:48:51Z
dc.date2026-06-01
dc.date2026
dc.date.accessioned2026-07-07T04:18:46Z
dc.descriptionAbstract: In agricultural robotics and orchard automation, tasks such as fruit detection, tracking, and spatiallocalization are essential for applications like yield prediction and harvesting. However, these tasks arechallenging due to the similar appearance of fruits, occlusions, and the inherent difficulties of field robotics,including uncontrolled lighting conditions and the variability in orchard environments. This work leveragesCoTracker, a transformer-based model for point tracking using cross-track/cross-time attention, to simultaneouslyperform multiple fruit tracking, 3-D fruit localization, and camera pose estimation. The proposed approachdemonstrates promising results in fruit counting, tracking, and scene reconstruction, highlighting its potential inagricultural automation.
dc.identifierRevista de Informática Teórica e Aplicada - RITA, v. 33, n. 2, p. 81-88, 2026.
dc.identifier2175-2745
dc.identifierhttp://www.alice.cnptia.embrapa.br/alice/handle/doc/1187276
dc.identifierhttps://doi.org/10.22456/2175-2745.150960
dc.identifier.urihttp://hdl.handle.net/123456789/457474
dc.languageeng
dc.rightsopenAccess
dc.subjectAgricultura digital
dc.subjectRobótica agrícola
dc.subjectDetecção de frutas
dc.subjectRastreamento de frutas
dc.subjectDigital agriculture
dc.subjectAgricultural robotics
dc.subjectFruit detection
dc.subjectFruit tracking
dc.titleMulti-fruit tracking and 3-D structure recovery via CoTracker.
dc.typeArtigo de periódico

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Embrapa Agricultura Digital (CNPTIA)