相关论文: Proprioception Is All You Need: Terrain Classifica…

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…

Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map,…

Neural networks are highly effective tools for pose estimation. However, as in other computer vision tasks, robustness to out-of-domain data remains a challenge, especially for small training sets that are common for real-world…

This work proposes a multi-task fully convolutional architecture for tree species mapping in dense forests from sparse and scarce polygon-level annotations using hyperspectral UAV-borne data. Our model implements a partial loss function…

Robot grasping, whether handling isolated objects, cluttered items, or stacked objects, plays a critical role in industrial and service applications. However, current visual grasp detection methods based on Convolutional Neural Networks…

Although tree species classification from Moderate Resolution Imaging Spectroradiometer (MODIS) time series data is critical for supporting various environmental applications, it is a challenging task due to several key difficulties: the…

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and…

Recently, a novel visual state space (VSS) model, referred to as Mamba, has demonstrated significant progress in modeling long sequences with linear complexity, comparable to Transformer models, thereby enhancing its adaptability for…

We introduce a novel deep learning method for detection of individual trees in urban environments using high-resolution multispectral aerial imagery. We use a convolutional neural network to regress a confidence map indicating the locations…

Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major…

Although hyperspectral image (HSI) classification is critical for supporting various environmental applications, it is a challenging task due to the spectral-mixture effect, the spatial-spectral heterogeneity and the difficulty to preserve…

Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection of CTMs during therapy and activities…

Multimodal image-text contrastive learning has shown that joint representations can be learned across modalities. Here, we show how leveraging multiple views of image data with contrastive learning can improve downstream fine-grained…

Despite the remarkable success of the end-to-end paradigm in deep learning, it often suffers from slow convergence and heavy reliance on large-scale datasets, which fundamentally limits its efficiency and applicability in data-scarce…

How to make a good trade-off between performance and computational cost is crucial for a tracker. However, current famous methods typically focus on complicated and time-consuming learning that combining temporal and appearance information…

Understanding and analyzing the spatial semantics and structure of forests is essential for accurate forest resource monitoring and ecosystem research. However, the lack of large-scale and annotated datasets has limited the widespread use…

Accurate identification of wood species plays a critical role in ecological monitoring, biodiversity conservation, and sustainable forest management. Traditional classification approaches relying on macroscopic and microscopic inspection…

Global climate change has had a drastic impact on our environment. Previous study showed that pest disaster occured from global climate change may cause a tremendous number of trees died and they inevitably became a factor of forest fire.…

Forest plays a vital role in reducing greenhouse gas emissions and mitigating climate change besides maintaining the world's biodiversity. The existing satellite-based forest monitoring system utilizes supervised learning approaches that…

Time-to-contact (TTC), the time for an object to collide with the observer's plane, is a powerful tool for path planning: it is potentially more informative than the depth, velocity, and acceleration of objects in the scene -- even for…