相关论文: A robotic vision system to measure tree traits

Random forests construct each tree with a different, randomised representation of the feature space. Their uniform voting cannot correct errors in regions where trees with incorrect representations probabilistically outnumber correct ones,…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

Segmenting tree structures is common in several image processing applications. In medical image analysis, reliable segmentations of airways, vessels, neurons and other tree structures can enable important clinical applications. We present a…

This paper presents an automated pipeline for detecting tree whorls in proximally laser scanning data using a pose-estimation deep learning model. Accurate whorl detection provides valuable insights into tree growth patterns, wood quality,…

Forest inventories rely on accurate measurements of the diameter at breast height (DBH) for ecological monitoring, resource management, and carbon accounting. While LiDAR-based techniques can achieve centimeter-level precision, they are…

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…

Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…

Tree rotations (left and right) are basic local deformations allowing to transform between two unlabeled binary trees of the same size. Hence, there is a natural problem of practically finding such transformation path with low number of…

This research focuses on the development of a drone equipped with pruning tools and a stereo vision camera to accurately detect and measure the spatial positions of tree branches. YOLO is employed for branch segmentation, while two depth…

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…

Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring proper harvesting force. This study presents an innovative…

Treemaps are a popular technique to visualize hierarchical data. The input is a weighted tree $\tree$ where the weight of each node is the sum of the weights of its children. A treemap for $\tree$ is a hierarchical partition of a rectangle…

Forest monitoring is critical for climate change mitigation. However, existing global tree height maps provide only static snapshots and do not capture temporal forest dynamics, which are essential for accurate carbon accounting. We…

Random forests (RFs) utilize bootstrap sampling to generate individual training sets for each component tree by sampling with replacement, with the sample size typically equal to that of the original training set ($N$). Previous research…

In some entertainment and virtual reality applications, it is necessary to model and draw the real world realistically, so as to improve the fidelity of natural scenes and make users have a better sense of immersion. However, due to the…

Automatic classification of trees using remotely sensed data has been a dream of many scientists and land use managers. Recently, Unmanned aerial vehicles (UAV) has been expected to be an easy-to-use, cost-effective tool for remote sensing…

Decision trees and random forest remain highly competitive for classification on medium-sized, standard datasets due to their robustness, minimal preprocessing requirements, and interpretability. However, a single tree suffers from high…

This thesis presents analysis of the properties and run-time of the Rapidly-exploring Random Tree (RRT) algorithm. It is shown that the time for the RRT with stepsize $\epsilon$ to grow close to every point in the $d$-dimensional unit cube…

Large-scale orchard production requires timely and precise disease monitoring, yet routine manual scouting is labor-intensive and financially impractical at the scale of modern operations. As a result, disease outbreaks are often detected…

Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…