Explanipedia

Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy Open

Xu Liu, Guilherme V. Nardari, Fernando Cladera, Yuezhan Tao, Alex Zhou , et al. · 2022

Semantic maps represent the environment using a set of semantically\nmeaningful objects. This representation is storage-efficient, less ambiguous,\nand more informative, thus facilitating large-scale autonomy and the\nacquisition of action…

Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture Open

Xu Liu, Steven W. Chen, Guilherme V. Nardari, Chao Qu, Fernando Cladera , et al. · 2022

Mobile robots such as unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) are increasingly used for precision agriculture. While UGVs have larger payload capabilities and longer operation time, they are limited to 2-D space…

Place recognition in forests with urquhart tessellations Open

Guilherme V. Nardari, Avraham Cohen, Steven W. Chen, Xu Liu, Vaibhav Arcot , et al. · 2021

In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark correspond…

Place Recognition in Forests With Urquhart Tessellations Open

Guilherme V. Nardari, Avraham Cohen, Steven W. Chen, Xu Liu, Vaibhav Arcot , et al. · 2020

In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark correspond…

SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory Open

Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee, Chao Qu, Xu Liu , et al. · 2020

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are surround…

SLOAM: semantic lidar odometry and mapping for forest inventory Open

Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee, Chao Qu, Xu Liu , et al. · 2020

This letter describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are surroun…

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