相关论文: Probabilistic Height Grid Terrain Mapping for Mini…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
Accurate soil mapping is critical for a highly-automated agricultural vehicle to successfully accomplish important tasks including seeding, ploughing, fertilising and controlled traffic, with limited human supervision, ensuring at the same…
This paper presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs and help protect the environment. Traditionally, data are…
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing segmentation algorithms often struggle with challenges related…
We propose a pipeline for combined multi-class object geolocation and height estimation from street level RGB imagery, which is considered as a single available input data modality. Our solution is formulated via Markov Random Field…
Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…
Recent developments in engineering techniques for spatial data collection such as geographic information systems have resulted in an increasing need for methods to analyze large spatial data sets. These sorts of data sets can be found in…
Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…
Mobile 3D printing on unstructured terrain remains challenging due to the conflict between platform mobility and deposition precision. Existing gantry-based systems achieve high accuracy but lack mobility, while mobile platforms struggle to…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…
Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still…
Topological analysis of the magnetic field in simulated plasmas allows the study of various physical phenomena in a wide range of settings. One such application is magnetic reconnection, a phenomenon related to the dynamics of the magnetic…
Ground-penetrating radar on planes and satellites now makes it practical to collect 3D observations of the subsurface structure of the polar ice sheets, providing crucial data for understanding and tracking global climate change. But…