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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…

In plant phenotyping, accurate trait extraction from 3D point clouds of trees is still an open problem. For automatic modeling and trait extraction of tree organs such as blossoms and fruits, the semantically segmented point cloud of a tree…

Accurately estimating forest biomass is crucial for global carbon cycle modelling and climate change mitigation. Tree height, a key factor in biomass calculations, can be measured using Synthetic Aperture Radar (SAR) technology. This study…

This paper considers outdoor terrain mapping using RGB images obtained from an aerial vehicle. While feature-based localization and mapping techniques deliver real-time vehicle odometry and sparse keypoint depth reconstruction, a dense…

Creating accurate 3D models of tree topology is an important task for tree pruning. The 3D model is used to decide which branches to prune and then to execute the pruning cuts. Previous methods for creating 3D tree models have typically…

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…

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…

Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…

Most of the approaches for indoor RGBD semantic la- beling focus on using pixels or superpixels to train a classi- fier. In this paper, we implement a higher level segmentation using a hierarchy of superpixels to obtain a better segmen-…

Accurate robot localization relative to orchard row centerlines is essential for autonomous guidance where satellite signals are often obstructed by foliage. Existing sensor-based approaches rely on various features extracted from images…

Plant phenotyping refers to a quantitative description of the plants properties, however in image-based phenotyping analysis, our focus is primarily on the plants anatomical, ontogenetical and physiological properties.This technique…

Comparative analysis of scalar fields is an important problem with various applications including feature-directed visualization and feature tracking in time-varying data. Comparing topological structures that are abstract and succinct…

Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing methods, which make quantitative evaluation difficult.…

Automatic tree density estimation and counting using single aerial and satellite images is a challenging task in photogrammetry and remote sensing, yet has an important role in forest management. In this paper, we propose the first…

Trees are key components of the terrestrial biosphere, playing vital roles in ecosystem function, climate regulation, and the bioeconomy. However, large-scale monitoring of individual trees remains limited by inadequate modelling. Available…

While 3D reconstruction is a well-established and widely explored research topic, semantic 3D reconstruction has only recently witnessed an increasing share of attention from the Computer Vision community. Semantic annotations allow in fact…

Accurate plant segmentation in thermal imagery remains a significant challenge for high throughput field phenotyping, particularly in outdoor environments where low contrast between plants and weeds and frequent occlusions hinder…

While mobile LiDAR sensors are increasingly used to scan in ecology and forestry applications, reconstruction and characterisation are typically carried out offline (to the best of our knowledge). Motivated by this, we present an online…

Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…

Modality alignment is critical for vision-language models (VLMs) to effectively integrate information across modalities. However, existing methods extract hierarchical features from text while representing each image with a single feature,…