相关论文: Smartphone-based Circular Plot Sampling for Forest…

This paper presents a non-parametric approach for segmenting trees from airborne LiDAR data in deciduous forests. Based on the LiDAR point cloud, the approach collects crown information such as steepness and height on-the-fly to delineate…

Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

Middle-echo, which covers one or a few corresponding points, is a specific type of 3D point cloud acquired by a multi-echo laser scanner. In this paper, we propose a novel approach for automatic segmentation of trees that leverages…

In this letter, we present a neural field-based real-time monocular mapping framework for accurate and dense Simultaneous Localization and Mapping (SLAM). Recent neural mapping frameworks show promising results, but rely on RGB-D or pose…

Reliable localization is essential for sustainable forest management, as it allows robots or sensor systems to revisit and monitor the status of individual trees over long periods. In modern forestry, this management is structured around…

We present a fast, simple method for automated data acquisition and visualization of sound directivity, made convenient and accessible via a smartphone app, "Polar Pattern Plotter." The app synchronizes measurements of sound volume with the…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…

Drones have revolutionized various domains, including agriculture. Recent advances in deep learning have propelled among other things object detection in computer vision. This study utilized YOLO, a real-time object detector, to identify…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…

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…

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…

Large-scale, high-resolution forest canopy height mapping plays a crucial role in understanding regional and global carbon and water cycles. Spaceborne LiDAR missions, including the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) and…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

We present Deblur-SLAM, a robust RGB SLAM pipeline designed to recover sharp reconstructions from motion-blurred inputs. The proposed method bridges the strengths of both frame-to-frame and frame-to-model approaches to model sub-frame…

For biodiversity and forestry applications, end-users desire maps of forests that are fully detailed, from the forest floor to the canopy. Terrestrial laser scanning and aerial laser scanning are accurate and increasingly mature methods for…

The need for higher agricultural productivity has demanded the intensive use of pesticides. However, their correct use depends on assessment methods that can accurately predict how well the pesticides' spraying covered the intended crop…

Indoor self-localization is a highly demanded system function for smartphones. The current solutions based on inertial, radio frequency, and geomagnetic sensing may have degraded performance when their limiting factors take effect. In this…

Trees are key components of the terrestrial biosphere, playing vital roles in ecosystem function, climate regulation, and the bioeconomy. However, large-scale monitoring of individual trees remains limited by inadequate modelling. Available…