Related papers: Real-Time Localization and Bimodal Point Pattern A…
Trees are key components of the terrestrial biosphere, playing vital roles in ecosystem function, climate regulation, and the bioeconomy. However, large-scale monitoring of individual trees remains limited by inadequate modelling. Available…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Food resources face severe damages under extraordinary situations of catastrophes such as earthquakes, cyclones, and tsunamis. Under such scenarios, speedy assessment of food resources from agricultural land is critical as it supports aid…
The difficulty to measure or predict species community composition at fine spatio-temporal resolution and over large spatial scales severely hampers our ability to understand species assemblages and take appropriate conservation measures.…
Individual tree detection and crown delineation (ITDD) are critical in forest inventory management and remote sensing based forest surveys are largely carried out through satellite images. However, most of these surveys only use 2D spectral…
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Intelligent forest tree breeding has advanced plant phenotyping, yet existing research largely focuses on large-leaf agricultural crops, with limited attention to fine-grained leaf analysis of sapling trees in open-field environments.…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…
This paper describes the development of an automated knot selection method (selecting number and location of knots) for bivariate splines in a pure regression framework (SALSA2D). To demonstrate this approach we use carcass location data…
Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult…
Airborne discrete return light detection and ranging (LiDAR) point clouds covering forested areas can be processed to segment individual trees and retrieve their morphological attributes. Segmenting individual trees in natural deciduous…
Point clouds from Terrestrial Laser Scanning (TLS) are an increasingly popular source of data for studying plant structure and function but typically require extensive manual processing to extract ecologically important information. One key…
Precise segmentation of Unmanned Aerial Vehicle (UAV)-captured images plays a vital role in tasks such as crop yield estimation and plant health assessment in banana plantations. By identifying and classifying planted areas, crop area can…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
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…
Urban forests play a key role in enhancing environmental quality and supporting biodiversity in cities. Mapping and monitoring these green spaces are crucial for urban planning and conservation, yet accurately detecting trees is challenging…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
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…