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

Forests, as critical components of our ecosystem, demand effective monitoring and management. However, conducting real-time forest inventory in large-scale and GNSS-interrupted forest environments has long been a formidable challenge. In…

Visual localization algorithms have achieved significant improvements in performance thanks to recent advances in camera technology and vision-based techniques. However, there remains one critical caveat: all current approaches that are…

Agricultural robots have the potential to increase production yields and reduce costs by performing repetitive and time-consuming tasks. However, for robots to be effective, they must be able to navigate autonomously in fields or orchards…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

The task of counting eucalyptus trees from aerial images collected by unmanned aerial vehicles (UAVs) has been frequently explored by techniques of estimation of the basal area, i.e, by determining the expected number of trees based on…

Developing an effective evaluation metric is crucial for accurately and swiftly measuring LiDAR perception performance. One major issue is the lack of metrics that can simultaneously generate fast and accurate evaluations based on either…

Robotic harvesting of fruits in orchards is a challenging task, since high density and overlapping of fruits and branches can heavily impact the success rate of robotic harvesting. Therefore, the vision system is demanded to provide…

Tree canopy height is one of the most important indicators of forest biomass, productivity, and ecosystem structure, but it is challenging to measure accurately from the ground and from space. Here, we used a U-Net model adapted for…

Urban canopy cover is important to mitigate the impact of climate change. Yet, existing quantification of urban greenery is either manual and not scalable, or use traditional computer vision methods that are inaccurate. We train deep…

NASA's Global Ecosystem Dynamics Investigation (GEDI) is a key climate mission whose goal is to advance our understanding of the role of forests in the global carbon cycle. While GEDI is the first space-based LIDAR explicitly optimized to…

Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a…

Large-scale orchard production requires timely and precise disease monitoring, yet routine manual scouting is labor-intensive and financially impractical at the scale of modern operations. As a result, disease outbreaks are often detected…

Answering range queries in the context of Local Differential Privacy (LDP) is a widely studied problem in Online Analytical Processing (OLAP). Existing LDP solutions all assume a uniform data distribution within each domain partition, which…

Forest structural complexity metrics integrate multiple canopy attributes into a single value that reflects habitat quality and ecosystem function. Spaceborne lidar from the Global Ecosystem Dynamics Investigation (GEDI) has enabled mapping…

Volume estimation in large indoor spaces is an important challenge in robotic inspection of industrial warehouses. We propose an approach for volume estimation for autonomous systems using visual features for indoor localization and surface…

We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…

Mapping standing dead trees is critical for assessing forest health, monitoring biodiversity, and mitigating wildfire risks, for which aerial imagery has proven useful. However, dense canopy structures, spectral overlaps between living and…

In the burgeoning field of medical imaging, precise computation of 3D volume holds a significant importance for subsequent qualitative analysis of 3D reconstructed objects. Combining multivariate calculus, marching cube algorithm, and…

The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing…