相关论文: A robotic vision system to measure tree traits
This paper presents a stereo-vision-based system mounted on a drone for detecting and localising radiata pine branches to support autonomous pruning. The proposed pipeline comprises two stages: branch segmentation and depth estimation. For…
As the world population is expected to reach 10 billion by 2050, our agricultural production system needs to double its productivity despite a decline of human workforce in the agricultural sector. Autonomous robotic systems are one…
This paper presents the Visual Optical Recognition Telemetry EXtraction (VORTEX) system for extracting and analyzing drone telemetry data from First Person View (FPV) Uncrewed Aerial System (UAS) footage. VORTEX employs MMOCR, a…
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…
The pattern analysis of tree structure holds significant scientific value for genetic breeding and forestry management. The current trunk and branch extraction technologies are mainly LiDAR-based or UAV-based. The former approaches obtain…
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an…
Tree skeleton plays an important role in tree structure analysis, forest inventory and ecosystem monitoring. However, it is a challenge to extract a skeleton from a tree point cloud with complex branches. In this paper, an automatic and…
Tree data occurs in many forms, such as computer programs, chemical molecules, or natural language. Unfortunately, the non-vectorial and discrete nature of trees makes it challenging to construct functions with tree-formed output,…
It is widely recognised that semiparametric efficient estimation can be hard to achieve in practice: estimators that are in theory efficient may require unattainable levels of accuracy for the estimation of complex nuisance functions. As a…
Thin leaves, fine stems, self-occlusion, non-rigid and slowly changing structures make plants difficult for three-dimensional (3D) scanning and reconstruction -- two critical steps in automated visual phenotyping. Many current solutions…
Wood logs picking is a challenging task to automate. Indeed, logs usually come in cluttered configurations, randomly orientated and overlapping. Recent work on log picking automation usually assume that the logs' pose is known, with little…
Forest mapping provides critical observational data needed to understand the dynamics of forest environments. Notably, tree diameter at breast height (DBH) is a metric used to estimate forest biomass and carbon dioxide sequestration. Manual…
This work develops formal statistical inference procedures for machine learning ensemble methods. Ensemble methods based on bootstrapping, such as bagging and random forests, have improved the predictive accuracy of individual trees, but…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful…
The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo…
Obtaining accurate photometric redshift estimations is an important aspect of cosmology, remaining a prerequisite of many analyses. In creating novel methods to produce redshift estimations, there has been a shift towards using machine…
We define, analyze, and give efficient algorithms for two kinds of distance measures for rooted and unrooted phylogenies. For rooted trees, our measures are based on the topologies the input trees induce on triplets; that is, on…
This work describes a Tree Ring Detection method for complete Cross-Sections of Trees (CS-TRD) that detects, processes and connects edges corresponding to the tree's growth rings. The method depends on the parameters for the Canny Devernay…
Autonomous drone-based tree pruning needs accurate, real-time depth estimation from stereo cameras. Depth is computed from disparity maps using $Z = f B/d$, so even small disparity errors cause noticeable depth mistakes at working…