Related papers: A new explainable DTM generation algorithm with ai…
When 3D-point clouds from overhead sensors are used as input to remote sensing data exploitation pipelines, a large amount of effort is devoted to data preparation. Among the multiple stages of the preprocessing chain, estimating the…
Despite the substantial demand for high-quality, large-area building maps, no established open-source workflow for generating 2D and 3D maps currently exists. This study introduces an automated, open-source workflow for large-scale 2D and…
The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
Digital Terrain Models (DTMs) represent the bare-earth elevation and are important in numerous geospatial applications. Such data models cannot be directly measured by sensors and are typically generated from Digital Surface Models (DSMs)…
Digital terrain models (DTMs) are pivotal in remote sensing, cartography, and landscape management, requiring accurate surface representation and topological information restoration. While topology analysis traditionally relies on smooth…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
Having good knowledge of terrain information is essential for improving the performance of various downstream tasks on complex terrains, especially for the locomotion and navigation of legged robots. We present a novel framework for neural…
In this paper, we provide an early look at our model for generating terrain that is occluded in the initial lidar scan or out of range of the sensor. As a proof of concept, we show that a transformer based framework is able to be overfit to…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing segmentation algorithms often struggle with challenges related…
In land surveying, the generation of maps was greatly simplified with the introduction of orthophotos and at a later stage with airborne LiDAR laser scanning systems. While the original purpose of LiDAR systems was to determine the altitude…
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…
LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…
Procedural terrain generation is the process of generating a digital representation of terrain using a computer program or procedure, with little to no human guidance. This paper proposes a procedural terrain generation algorithm based on a…
The terrain survey techniques of photogrammetry, LIDAR, Sonar or seismic studies are subject to limitation of shadow zones. It is not possible to capture the terrain pattern and requires interpolation and extrapolation for conformal mapping…
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.…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…