相关论文: Adaptive Per-Tree Canopy Volume Estimation Using M…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

The exponential increase in mobile data demand, coupled with growing user expectation to be connected in all places at all times, have introduced novel challenges for researchers to address. Fortunately, the wide spread deployment of…

The growth rate of large-scale structure provides a powerful consistency test of the standard cosmological model and a probe of possible deviations from general relativity. We use a Fisher analysis to forecast constraints on the growth rate…

An accurate and reliable image based fruit detection system is critical for supporting higher level agriculture tasks such as yield mapping and robotic harvesting. This paper presents the use of a state-of-the-art object detection…

We present Dargana, a fine-tuned variant of the EarthPT time-series foundation model that achieves specialisation using <3% of its pre-training data volume and 5% of its pre-training compute. Dargana is fine-tuned to generate regularly…

Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applications. However, static tree data structures are inadequate…

Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions weaken the assumptions of traditional urban-centric…

Autonomous vehicle manufacturers recognize that LiDAR provides accurate 3D views and precise distance measures under highly uncertain driving conditions. Its practical implementation, however, remains costly. This paper investigates the…

This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…

This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…

We present a new technique to fit color-magnitude diagrams of open clusters based on the Cross-Entropy global optimization algorithm. The method uses theoretical isochrones available in the literature and maximizes a weighted likelihood…

Urban tree biodiversity is critical for climate resilience, ecological stability, and livability in cities, yet most municipalities lack detailed knowledge of their canopies. Field-based inventories provide reliable estimates of Shannon and…

Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed…

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…

Reliable detection of humans beneath forest canopy remains a difficult remote-sensing challenge due to sparse, structured, and viewpoint-dependent occlusion. This paper presents a multimodal proof-of-concept pipeline that integrates three…

In this paper we develop a deforestation detection pipeline that incorporates optical and Synthetic Aperture Radar (SAR) data. A crucial component of the pipeline is the construction of anomaly maps of the optical data, which is done using…

Monitoring urban tree dynamics is vital for supporting greening policies and reducing risks to electrical infrastructure. Airborne laser scanning has advanced large-scale tree management, but challenges remain due to complex urban…

This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…

Recognising individual trees within remotely sensed imagery has important applications in forest ecology and management. Several algorithms for tree delineation have been suggested, mostly based on locating local maxima or inverted basins…