This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB‐D camera, high‐end computer with graphics processing unit, programmable logic controllers, other electronic equipment, and a small container to store harvested fruit. All is mounted on a cart that autonomously drives on pipe rails and concrete floor in the end‐user environment. The overall operation of the harvesting robot is described along with details of the algorithms for fruit detection and localization, grasp pose estimation, and motion control. The main contributions of this paper are the integrated system design and its validation and extensive field testing in a commercial greenhouse for different varieties and growing conditions. A total of 262 fruits were involved in a 4‐week long testing period. The average cycle time to harvest a fruit was 24 s. Logistics took approximately 50% of this time (7.8 s for discharge of fruit and 4.7 s for platform movements). Laboratory experiments have proven that the cycle time can be reduced to 15 s by running the robot manipulator at a higher speed. The harvest success rates were 61% for the best fit crop conditions and 18% in current crop conditions. This reveals the importance of finding the best fit crop conditions and crop varieties for successful robotic harvesting. The SWEEPER robot is the first sweet pepper harvesting robot to demonstrate this kind of performance in a commercial greenhouse.

In the square jigsaw puzzle problem one is required to reconstruct the complete image from a set of non-overlapping, unordered, square puzzle parts. Here we propose a fully automatic solver for this problem, where unlike some previous work, it assumes no clues regarding parts' location and requires no prior knowledge about the original image or its simplified (e.g., lower resolution) versions. To do so, we introduce a greedy solver which combines both informed piece placement and rearrangement of puzzle segments to find the final solution. Among our other contributions are new compatibility metrics which better predict the chances of two given parts to be neighbors, and a novel estimation measure which evaluates the quality of puzzle solutions without the need for ground-truth information. Incorporating these contributions, our approach facilitates solutions that surpass state-of-the-art solvers on puzzles of size larger than ever attempted before.

Neurons in primary visual cortex respond selectively to oriented stimuli such as edges and lines. The long-range horizontal connections between them are thought to facilitate contour integration. While many physiological and psychophysical findings suggest that collinear or association field models of good continuation dictate particular projection patterns of horizontal connections to guide this integration process, significant evidence of interactions inconsistent with these hypotheses is accumulating. We first show that natural random variations around the collinear and association field models cannot account for these inconsistencies, a fact that motivates the search for more principled explanations. We then develop a model of long-range projection fields that formalizes good continuation based on differential geometry. The analysis implicates curvature(s) in a fundamental way, and the resulting model explains both consistent data and apparent outliers. It quantitatively predicts the (typically ignored) spread in projection distribution, its nonmonotonic variance, and the differences found among individual neurons. Surprisingly, and for the first time, this model also indicates that texture (and shading) continuation can serve as alternative and complementary functional explanations to contour integration. Because current anatomical data support both (curve and texture) integration models equally and because both are important computationally, new testable predictions are derived to allow their differentiation and identification.