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This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
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…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
Greenhouse production of fruits and vegetables in developed countries is challenged by labor 12 scarcity and high labor costs. Robots offer a good solution for sustainable and cost-effective 13 production. Acquiring accurate spatial…
We propose a novel tree classification system called Treelogy, that fuses deep representations with hand-crafted features obtained from leaf images to perform leaf-based plant classification. Key to this system are segmentation of the leaf…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Accurate estimation of forest biomass, a major carbon sink, relies heavily on tree-level traits such as height and species. Unoccupied Aerial Vehicles (UAVs) capturing high-resolution imagery from a single RGB camera offer a cost-effective…
Access to below-canopy volumetric vegetation data is crucial for understanding ecosystem dynamics. We address the long-standing limitation of remote sensing to penetrate deep into dense canopy layers. LiDAR and radar are currently…
We describe a method for visual object detection based on an ensemble of optimized decision trees organized in a cascade of rejectors. The trees use pixel intensity comparisons in their internal nodes and this makes them able to process…
Learning about the relationship between distance to landmarks and events and phenomena of interest is a multi-faceted problem, as it may require taking into account multiple dimensions, including: spatial position of landmarks, timing of…
The growing complexity of spatial and structural information in 3D data makes data inspection and visualization a challenging task. We describe a method to create a planar embedding of 3D treelike structures using their skeleton…
Prior work on plant species classification predominantly focuses on building models from isolated plant attributes. Hence, there is a need for tools that can assist in species identification in the natural world. We present a novel and…
The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Tree defect detection is crucial for the structural health screening of trees. Existing nondestructive testing (NDT) techniques for tree defect detection require time-consuming and labor-intensive measurement campaigns. This discourages…
Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…