Geometry‐Aware 3D Point Cloud Learning for Precise Cutting‐Point Detection in Unstructured Field Environments

ABSTRACT In automated lychee harvesting, the complex geometric structures of branches, leaves, and clustered fruits pose significant challenges for robotic cutting point detection, where even minor positioning errors can lead to harvest damage and operational failures. This study introduces the Fcaf3d‐lychee network model, specifically designed for precise lychee picking point localization. The data acquisition system utilizes Microsoft's Azure Kinect DK time‐of‐flight camera to capture point cloud data through multi‐view stitching, enabling comprehensive spatial information capture. The proposed model enhances the Fully Convolutional Anchor‐Free 3D Object Detection (Fcaf3d) architecture by incorporating a…