相关论文: Semantic Mapping for Orchard Environments by Mergi…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Effectively parsing the facade is essential to 3D building reconstruction, which is an important computer vision problem with a large amount of applications in high precision map for navigation, computer aided design, and city generation…

Large tree structures are ubiquitous and real-world relational datasets often have information associated with nodes (e.g., labels or other attributes) and edges (e.g., weights or distances) that need to be communicated to the viewers. Yet,…

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…

Following crop growth through the vegetative cycle allows farmers to predict fruit setting and yield in early stages, but it is a laborious and non-scalable task if performed by a human who has to manually measure fruit sizes with a caliper…

Semantic correspondence made tremendous progress through the recent advancements of large vision models (LVM). While these LVMs have been shown to reliably capture local semantics, the same can currently not be said for capturing global…

Comparative analysis of scalar fields is an important problem with various applications including feature-directed visualization and feature tracking in time-varying data. Comparing topological structures that are abstract and succinct…

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…

In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-dimensional, semantic tree representation of the environment…

The ability to automatically build 3D digital twins of plants from images has countless applications in agriculture, environmental science, robotics, and other fields. However, current 3D reconstruction methods fail to recover complete…

Edit distances between merge trees of scalar fields have many applications in scientific visualization, such as ensemble analysis, feature tracking or symmetry detection. In this paper, we propose branch mappings, a novel approach to the…

We present a real-time system for per-tree canopy volume estimation using mobile LiDAR data collected during routine robotic navigation. Unlike prior approaches that rely on static scans or assume uniform orchard structures, our method…

Vision perception and modelling are the essential tasks of robotic harvesting in the unstructured orchard. This paper develops a framework of visual perception and modelling for robotic harvesting of fruits in the orchard environments. The…

Deep learning techniques involving image processing and data analysis are constantly evolving. Many domains adapt these techniques for object segmentation, instantiation and classification. Recently, agricultural industries adopted those…

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…

Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards, characterized by repetitive row…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Recent research that combines implicit 3D representation with semantic information, like Semantic-NeRF, has proven that NeRF model could perform excellently in rendering 3D structures with semantic labels. This research aims to extend the…