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arXiv · 2411.14092

MetaCropFollow: Few-Shot Adaptation with Meta-Learning for Under-Canopy Navigation

Thomas Woehrle·Arun N. Sivakumar·Naveen Uppalapati·Girish Chowdhary
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Abstract

Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and excessive clutter. Keypoint-based visual navigation has been shown to perform well in these conditions, however the differences between agricultural environments in terms of lighting, season, soil and crop type mean that a domain shift will likely be encountered at some point of the robot deployment. In this paper, we explore the use of Meta-Learning to overcome this domain shift using a minimal amount of data. We train a base-learner that can quickly adapt to new conditions, enabling more robust navigation in low-data regimes.

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Thomas Woehrle, Arun N. Sivakumar, Naveen Uppalapati, Girish Chowdhary. 2024-11-21. MetaCropFollow: Few-Shot Adaptation with Meta-Learning for Under-Canopy Navigation. https://arxiv.org/abs/2411.14092

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