相关论文: Tree-SLAM: semantic object SLAM for efficient mapp…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…

Accurate tree segmentation is a key step in extracting individual tree metrics from forest laser scans, and is essential to understanding ecosystem functions in carbon cycling and beyond. Over the past decade, tree segmentation algorithms…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

In this paper, we propose a deep learning framework for the automated counting and geolocation of palm trees from aerial images using convolutional neural networks. For this purpose, we collected aerial images in a palm tree Farm in the…

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…

Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding…

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,…

Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environments and when scenes change. We present Semantic Enhancement…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

It is often desirable to capture and map semantic information of an environment during simultaneous localization and mapping (SLAM). Such semantic information can enable a robot to better distinguish places with similar low-level geometric…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

The collection of a high number of pixel-based labeled training samples for tree species identification is time consuming and costly in operational forestry applications. To address this problem, in this paper we investigate the…

We present a method for detecting and mapping trees in noisy stereo camera point clouds, using a learned 3-D object detector. Inspired by recent advancements in 3-D object detection using a pseudo-lidar representation for stereo data, we…

Accurate localization is an important functional requirement for precision orchard management. However, there are few off-the-shelf commercial solutions available to growers. In this paper, we present SeeTree, a modular, open source…

The cultivation of orchard meadows provides an ecological benefit for biodiversity, which is significantly higher than in intensively cultivated orchards. The goal of this research is to create a tree model to automatically determine…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…