Related papers: Localization in Unstructured Environments: Towards…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
Estimating the location where an image was taken based solely on the contents of the image is a challenging task, even for humans, as properly labeling an image in such a fashion relies heavily on contextual information, and is not as…
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…
This paper shows the achievement of a sensing and navigation system of aerial robot for measuring location and size of trees in a forest environment autonomously. Although forestry is an important industry in Japan, the working population…
Reliable localization is essential for sustainable forest management, as it allows robots or sensor systems to revisit and monitor the status of individual trees over long periods. In modern forestry, this management is structured around…
This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…
Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…
We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balance of endurance and low soil impact for forest applications.…
Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions weaken the assumptions of traditional urban-centric…
Forestry is a major industry in many parts of the world. It relies on forest inventory, which consists of measuring tree attributes. We propose to use 3D mapping, based on the iterative closest point algorithm, to automatically measure tree…
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper…
In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark…
In this work we introduce Natural Segmentation and Matching (NSM), an algorithm for reliable localization, using laser, in both urban and natural environments. Current state-of-the-art global approaches do not generalize well to…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…
We propose a new data structure to compute the Delaunay triangulation of a set of points in the plane. It combines good worst case complexity, fast behavior on real data, and small memory occupation. The location structure is organized into…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Vehicles with prolonged autonomous missions have to maintain environment awareness by simultaneous localization and mapping (SLAM). Closed loop correction is substituted by interpolation in rigid body transformation space in order to…
Covering one third of Earth's land surface, forests are vital to global biodiversity, climate regulation, and human well-being. In Europe, forests and woodlands reach approximately 40% of land area, and the forestry sector is central to…