{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,25]],"date-time":"2026-07-25T03:45:48Z","timestamp":1784951148589,"version":"3.55.0"},"reference-count":31,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2023,3,29]],"date-time":"2023-03-29T00:00:00Z","timestamp":1680048000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union\u2019s Horizon 2020 research and innovation program","award":["101017054"],"award-info":[{"award-number":["101017054"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Agricultural robotics is an up and coming field which deals with the development of robotic systems able to tackle a multitude of agricultural tasks efficiently. The case of interest, in this work, is mushroom collection in industrial mushroom farms. Developing such a robot, able to select and out-root a mushroom, requires delicate actions that can only be conducted if a well-performing perception module exists. Specifically, one should accurately detect the 3D pose of a mushroom in order to facilitate the smooth operation of the robotic system. In this work, we develop a vision module for 3D pose estimation of mushrooms from multi-view point clouds using multiple RealSense active\u2013stereo cameras. The main challenge is the lack of annotation data, since 3D annotation is practically infeasible on a large scale. To address this, we developed a novel pipeline for mushroom instance segmentation and template matching, where a 3D model of a mushroom is the only data available. We evaluated, quantitatively, our approach over a synthetic dataset of mushroom scenes, and we, further, validated, qualitatively, the effectiveness of our method over a set of real data, collected by different vision settings.<\/jats:p>","DOI":"10.3390\/s23073576","type":"journal-article","created":{"date-parts":[[2023,3,30]],"date-time":"2023-03-30T01:31:30Z","timestamp":1680139890000},"page":"3576","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["Mushroom Detection and Three Dimensional Pose Estimation from Multi-View Point Clouds"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6734-3575","authenticated-orcid":false,"given":"George","family":"Retsinas","sequence":"first","affiliation":[{"name":"School of Electrical and Computer Engineering, National Technical University of Athens, 15773 Athens, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3911-561X","authenticated-orcid":false,"given":"Niki","family":"Efthymiou","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, National Technical University of Athens, 15773 Athens, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dafni","family":"Anagnostopoulou","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, National Technical University of Athens, 15773 Athens, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Petros","family":"Maragos","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, National Technical University of Athens, 15773 Athens, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,29]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Research and development in agricultural robotics: A perspective of digital farming","volume":"11","author":"Weltzien","year":"2018","journal-title":"Int. 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