This is the official PyTorch implementation of the "Mushroom Segmentation and 3D Pose Estimation from Point Clouds using Fully Convolutional Geometric Features and Implicit Pose Encoding" paper appeared in CVPRW 2023 (Vision for Agriculture).

Overview of the proposed system. Given a point cloud input of a mushroom scene, the proposed deep network predicts the three categories of task-relevant information. Using a mode-seeking clustering over the predicted centers we can provide the instance segmentation result. Then each mushroom region is processed as an ellipsoid structure and the corresponding 3D pose is estimated.

The deep learning backbone is a sparse 3D convolution network as in Fully Convolutional Geometric Features. This network requires to have a working version of Minkowski Engine. The following commands provided a working conda enviroment for a Python 3.9 setup with CUDA 11.7:

conda create -n mpose python=3.9
conda activate mpose

conda install openblas-devel -c anaconda
conda install pytorch=2.0.1 torchvision cudatoolkit=11.0 -c pytorch -c conda-forge
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include" --install-option="--blas=openblas"

pip install open3d 

If Minkowski Engine installation fails, check out the alternatives in the original repo.

We provide a demo that can be used to test a pretrained model on some examples of pointclouds.

python run.py example_pcds/example_2.pcd trained_model.pt

The first argument is the path to the point cloud input, while the second is the path to a trained model. Both a set of inputs, as well as an already trained model are provided.

This code provides a visualization of the final detection through Open3D library. To also support headless executions, the visualization is depicted on localhost:8888 and a port forwarding is required.

Further training can be performed via:

python train_scenes.pt

This code generates on the fly synthetic mushroom scenes and train the 3D model on them.

If you find this work useful, please consider citing:

@inproceedings{retsinas2023mushroom,
  title={Mushroom Segmentation and 3D Pose Estimation from Point Clouds using Fully Convolutional Geometric Features and Implicit Pose Encoding},
  author={Retsinas, George and Efthymiou, Niki and Maragos, Petros},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={6263--6270},
  year={2023}
}

We acknowledge the following repositories and papers that were used in this work:

• Fully Convolutional Geometric Features
• Minkowski Engine