Carlos Diaz-Ruiz

Detecting and Mapping Trees in Unstructured Environments with a Stereo Camera and Pseudo-Lidar

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