{"ID":2889701,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.00900","arxiv_id":"2508.00900","title":"Sparse 3D Perception for Rose Harvesting Robots: A Two-Stage Approach Bridging Simulation and Real-World Applications","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.","short_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...","url_abs":"https://arxiv.org/abs/2508.00900","url_pdf":"https://arxiv.org/pdf/2508.00900v1","authors":"[\"Taha Samavati\",\"Mohsen Soryani\",\"Sina Mansouri\"]","published":"2025-07-28T16:09:34Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.CV\"]","methods":"[]","has_code":false}