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Robust under-canopy navigation path extraction for collaborative harvesting robots using semi-supervised UniMatch V2 segmentation enhanced by edge-contour keypoint clustering

Rui Su, Cheng Liu, Zhentao Zhu, Ling Wang, Xu Mao, Lei Gao, Du Chen. Robust under-canopy navigation path extraction for collaborative harvesting robots using semi-supervised UniMatch V2 segmentation enhanced by edge-contour keypoint clustering. Computers and Electronics in Agriculture, 247:111728, 2026. [doi]

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