Abstract: An example harvesting device includes: a conduit having a distal end and a proximal end; a nozzle coupled to the distal end of the conduit, wherein a vacuum generating device is configured to generate a vacuum environment in the conduit and the nozzle coupled thereto; a housing coupled to the proximal end of the conduit, wherein the housing defines a chamber therein, and wherein the housing includes a divider that partitions a portion of the chamber into a first section and a second section; and a wedge rotatably mounted within the housing, wherein: (i) when the wedge is in a first position, fruit that has traversed through the conduit is deflected to the first section, and (ii) when the wedge is in a second position, fruit that has traversed through the conduit is deflected to the second section.

Abstract: A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.

Abstract: A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.

Abstract: Navigation systems and methods communicate a landing location to an aircraft. The method comprises collecting data from multiple sensor systems of the aircraft over time while the aircraft is above the terrain. The method also comprises determining on-going pose estimates of the aircraft over time based on input data from the multiple sensor systems. The method further comprises detecting a non-natural marker in the image data from the camera system, with the non-natural marker being physically located on the terrain at a desired landing location for the aircraft. The method further comprises determining a bearing of the non-natural marker relative to the aircraft from the image data captured by the camera system. The method comprises determining a location of the non-natural marker in a global coordinate frame based on a 3D mapping of terrain below the aircraft and the determined bearing for the marker.