Tomato harvesting robotic system based on Deep-ToMaToS: Deep learning network using transformation loss for 6D pose estimation of maturity classified tomatoes with side-stem. - JoonYoung Kim; HyeRan Pyo; Inhoon Jang; Jaehyeon Kang; Byeong-Kwon Ju; Kwang-Eun Ko (Comput. Electron. Agric., 2022)