相关论文: Graph-based methods for analyzing orchard tree str…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

Conservation and decision-making regarding forest resources necessitate regular forest inventory. Light detection and ranging (LiDAR) in laser scanning systems has gained significant attention over the past two decades as a remote and…

Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requiring up to two days per hectare for data collection,…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

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…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Individual tree segmentation (ITS) from LiDAR point clouds is fundamental for applications such as forest inventory, carbon monitoring and biodiversity assessment. Traditionally, ITS has been achieved with unsupervised geometry-based…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

Building change detection is essential for monitoring urbanization, disaster assessment, urban planning and frequently updating the maps. 3D structure information from airborne light detection and ranging (LiDAR) is very effective for…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Accurate forest canopy height estimation is essential for evaluating aboveground biomass and carbon stock dynamics, supporting ecosystem monitoring services like timber provisioning, climate change mitigation, and biodiversity conservation.…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

In the information age, it has become increasingly common for data containing records about overlapping individuals to be distributed across multiple sources, making it necessary to identify which records refer to the same individual. The…

Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment,…

Mapping field environments into point clouds using a 3D LIDAR has the ability to become a new approach for online estimation of crop biomass in the field. The estimation of crop biomass in agriculture is expected to be closely correlated to…

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…

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…