Related papers: Localization in Unstructured Environments: Towards…
Visual localization algorithms have achieved significant improvements in performance thanks to recent advances in camera technology and vision-based techniques. However, there remains one critical caveat: all current approaches that are…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Forest stands are the fundamental units in forest management inventories, silviculture, and financial analysis within operational forestry. Over the past two decades, a common method for mapping stand borders has involved delineation…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
In our physically inspired in-tree (IT) based clustering algorithm and the series after it, there is only one free parameter involved in computing the potential value of each point. In this work, based on the Delaunay Triangulation or its…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…
The use of autonomous vehicles for chemical source localisation is a key enabling tool for disaster response teams to safely and efficiently deal with chemical emergencies. Whilst much work has been performed on source localisation using…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Close-range laser scanning provides detailed 3D captures of forest stands but requires efficient software for processing 3D point cloud data and extracting individual trees. Although recent studies have introduced deep learning methods for…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Trees inside cities are important for the urban microclimate, contributing positively to the physical and mental health of the urban dwellers. Despite their importance, often only limited information about city trees is available. Therefore…
Drones are increasingly used in forestry to capture high-resolution remote sensing data, supporting enhanced monitoring, assessment, and decision-making processes. While operations above the forest canopy are already highly automated,…
Camera relocalisation is an important problem in computer vision, with applications in simultaneous localisation and mapping, virtual/augmented reality and navigation. Common techniques either match the current image against keyframes with…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
Deforestation, as one of the challenging environmental problems in the world, has been recorded the most serious threat to environmental diversity and one of the main components of land-use change. In this paper, we investigate spatial…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…