相关论文: Markerless Aerial-Terrestrial Co-Registration of F…

In this paper, we introduce a non-rigid registration pipeline for pairs of unorganized point clouds that may be topologically different. Standard warp field estimation algorithms, even under robust, discontinuity-preserving regularization,…

Reliable building height estimation is essential for various urban applications. Spaceborne SAR tomography (TomoSAR) provides weather-independent, side-looking observations that capture facade-level structure, offering a promising…

Aerial image segmentation is the basis for applications such as automatically creating maps or tracking deforestation. In true orthophotos, which are often used in these applications, many objects and regions can be approximated well by…

For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…

Humans use UAVs to monitor changes in forest environments since they are lightweight and provide a large variety of surveillance data. However, their information does not present enough details for understanding the scene which is needed to…

There is a rising interest in mapping trees using satellite or aerial imagery, but there is no standardized evaluation protocol for comparing and enhancing methods. In dense canopy areas, the high variability of tree sizes and their spatial…

We present TreeON, a novel neural-based framework for reconstructing detailed 3D tree point clouds from sparse top-down geodata, using only a single orthophoto and its corresponding Digital Surface Model (DSM). Our method introduces a new…

The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…

Forest land plays a vital role in global climate, ecosystems, farming and human living environments. Therefore, forest biomass estimation methods are necessary to monitor changes in the forest structure and function, which are key data in…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

Understanding historical forest dynamics, specifically changes in forest biomass and carbon stocks, has become critical for assessing current forest climate benefits and projecting future benefits under various policy, regulatory, and…

Commercial off the shelf (COTS) 3D scanners are capable of generating point clouds covering visible portions of a face with sub-millimeter accuracy at close range, but lack the coverage and specialized anatomic registration provided by more…

Urban forests play a key role in enhancing environmental quality and supporting biodiversity in cities. Mapping and monitoring these green spaces are crucial for urban planning and conservation, yet accurately detecting trees is challenging…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

Accurate reconstruction of leaf surfaces from 3D point cloud is essential for agricultural applications such as phenotyping. However, real-world plant data (i.e., irregular 3D point cloud) are often complex to reconstruct plant parts…

Individual tree species labels are particularly hard to acquire due to the expert knowledge needed and the limitations of photointerpretation. Here, we present a methodology to automatically mine species labels from public forest inventory…

Airborne Laser Scanning (ALS) can collect point clouds across large areas, enabling large-scale forest inventory. However, ALS point clouds are sparse and noisy, resulting in inaccurate individual-tree-level forest inventory, such as stem…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Trees inside cities are important for the urban microclimate, contributing positively to the physical and mental health of the urban dwellers. Despite their importance, often only limited information about city trees is available. Therefore…

In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…