Related papers: A scalable approach for tree segmentation within s…
Point-cloud data acquired using a terrestrial laser scanner (TLS) play an important role in digital forestry research. Multiple scans are generally used to overcome occlusion effects and obtain complete tree structural information. However,…
In this work, we propose a novel node splitting method for regression trees and incorporate it into the regression forest framework. Unlike traditional binary splitting, where the splitting rule is selected from a predefined set of binary…
Tree perception is an essential building block toward autonomous forestry operations. Current developments generally consider input data from lidar sensors to solve forest navigation, tree detection and diameter estimation problems. Whereas…
Algorithms for multi-agent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this paper, we…
Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…
We introduce several parallel algorithms operating on a distributed forest of adaptive quadtrees/octrees. They are targeted at large-scale applications relying on data layouts that are more complex than required for standard finite…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
Replicated tree data structures are extensively used in collaborative applications and distributed file systems, where clients often perform move operations. Local move operations at different replicas may be safe. However, remote move…
The three-dimensional structures of individual trees are important pieces of information necessary to understand the effect of trees on urban environments. In this study, we demonstrate a method for estimating the leaf area density (LAD)…
Up-to-date catalogs of the urban tree population are important for municipalities to monitor and improve quality of life in cities. Despite much research on automation of tree mapping, mainly relying on dedicated airborne LiDAR or…
Registration of unmanned aerial vehicle laser scanning (ULS) and ground light detection and ranging (LiDAR) point clouds in forests is critical to create a detailed representation of a forest structure and an accurate inversion of forest…
Targeting in-memory one-dimensional search keys, we propose a novel DIstribution-driven Learned Index tree (DILI), where a concise and computation-efficient linear regression model is used for each node. An internal node's key range is…
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…
Highly dynamic networks are characterized by frequent changes in the availability of communication links. These networks are often partitioned into several components, which split and merge unpredictably. We present a distributed algorithm…
Various modifications of decision trees have been extensively used during the past years due to their high efficiency and interpretability. Tree node splitting based on relevant feature selection is a key step of decision tree learning, at…
The segmentation of forest LiDAR 3D point clouds, including both individual tree and semantic segmentation, is fundamental for advancing forest management and ecological research. However, current approaches often struggle with the…
The rise of the Internet of Things and edge computing has shifted computing resources closer to end-users, benefiting numerous delay-sensitive, computation-intensive applications. To speed up computation, distributed computing is a…
Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…
Graph analytics for large scale graphs has gained interest in recent years. Many graph algorithms have been designed for vertex-centric distributed graph processing frameworks to operate on large graphs with 100 M vertices and edges, using…
We present a real-time system for per-tree canopy volume estimation using mobile LiDAR data collected during routine robotic navigation. Unlike prior approaches that rely on static scans or assume uniform orchard structures, our method…