相关论文: GPS-free Autonomous Navigation in Cluttered Tree R…
The segmentation of plant roots from soil and other growing media in X-ray computed tomography images is needed to effectively study the root system architecture without excavation. However, segmentation is a challenging problem in this…
Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…
Information on trees at the individual level is crucial for monitoring forest ecosystems and planning forest management. Current monitoring methods involve ground measurements, requiring extensive cost, time and labor. Advances in drone…
Real-time semantic segmentation of remote sensing imagery is a challenging task that requires a trade-off between effectiveness and efficiency. It has many applications including tracking forest fires, detecting changes in land use and land…
This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…
In recent years, the geospatial industry has been developing at a steady pace. This growth implies the addition of satellite constellations that produce a copious supply of satellite imagery and other Remote Sensing data on a daily basis.…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
This research advances individual tree crown (ITC) segmentation in lidar data, using a deep learning model applicable to various laser scanning types: airborne (ULS), terrestrial (TLS), and mobile (MLS). It addresses the challenge of…
Semantic segmentation is a crucial task for robot navigation and safety. However, it requires huge amounts of pixelwise annotations to yield accurate results. While recent progress in computer vision algorithms has been heavily boosted by…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
The potential of tree planting as a natural climate solution is often undermined by inadequate monitoring of tree planting projects. Current monitoring methods involve measuring trees by hand for each species, requiring extensive cost,…
This paper presents a novel weakly supervised semantic segmentation method for radar segmentation, where the existing LiDAR semantic segmentation models are employed to generate semantic labels, which then serve as supervision signals for…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Global warming, loss of biodiversity, and air pollution are among the most significant problems facing Earth. One of the primary challenges in addressing these issues is the lack of monitoring forests to protect them. To tackle this…
Mapping individual tree crowns is essential for tasks such as maintaining urban tree inventories and monitoring forest health, which help us understand and care for our environment. However, automatically separating the crowns from each…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
Vehicles with prolonged autonomous missions have to maintain environment awareness by simultaneous localization and mapping (SLAM). Closed loop correction is substituted by interpolation in rigid body transformation space in order to…