Related papers: Localization in Unstructured Environments: Towards…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…

Automatic classification of trees using remotely sensed data has been a dream of many scientists and land use managers. Recently, Unmanned aerial vehicles (UAV) has been expected to be an easy-to-use, cost-effective tool for remote sensing…

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…

Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual components will be able to work together. However, this…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

Access to highly detailed models of heterogeneous forests, spanning from the near surface to above the tree canopy at varying scales, is increasingly in demand. This enables advanced computational tools for analysis, planning, and ecosystem…

The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be…

Monitoring and controlling invasive tree species across large forests, parks, and trail networks is challenging due to limited accessibility, reliance on manual scouting, and degraded under-canopy GNSS. We present MapForest, a modular field…

Humans use UAVs to monitor changes in forest environments since they are lightweight and provide a large variety of surveillance data. However, their information does not present enough details for understanding the scene which is needed to…

It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree…

Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable…

There is a rising interest in mapping trees using satellite or aerial imagery, but there is no standardized evaluation protocol for comparing and enhancing methods. In dense canopy areas, the high variability of tree sizes and their spatial…

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…

Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…

Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requiring up to two days per hectare for data collection,…

This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…

Authentication of individuals via palmprint based biometric system is becoming very popular due to its reliability as it contains unique and stable features. In this paper, we present a novel approach for palmprint recognition and its…