Related papers: Smartphone-based Circular Plot Sampling for Forest…
We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality depth camera. The collected dataset contains 200 people…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
This study demonstrates a method to locate an ideal perch location on a tree for vision-guided autonomous tree-perching drones. Various image processing algorithms, including those used for machine learning, image segmentation and binary…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
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…
Palms are ecologically and economically indicators of tropical forest health, biodiversity, and human impact that support local economies and global forest product supply chains. While palm detection in plantations is well-studied, efforts…
In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment…
In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Accurate tree segmentation is a key step in extracting individual tree metrics from forest laser scans, and is essential to understanding ecosystem functions in carbon cycling and beyond. Over the past decade, tree segmentation algorithms…
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…
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…
This paper proposes a multi-spectral random forest classifier with suitable feature selection and masking for tree cover estimation in urban areas. The key feature of the proposed classifier is filtering out the built-up region using…
We propose a tree-level biomass estimation model approximating allometric equations by LiDAR data. Since tree crown diameters estimation is challenging from spaceborne LiDAR measurements, we develop a model to correlate tree height with…
Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…
Structured Light Illumination (SLI) systems have been used for reliable indoor dense 3D scanning via phase triangulation. However, mobile SLI systems for 360 degree 3D reconstruction demand 3D point cloud registration, involving high…
Rapid progress in embedded computing hardware increasingly enables on-board image processing on small robots. This development opens the path to replacing costly sensors with sophisticated computer vision techniques. A case in point is the…
The potential of tree planting as a natural climate solution is often undermined by inadequate monitoring of tree planting projects. Current monitoring methods involve measuring trees by hand for each species, requiring extensive cost,…