8 accepted papers
Satellite imagery has traditionally been used to collect crop statistics, but its low resolution and registration accuracy limit agricultural analytics to plant stand levels and large areas. Precision agriculture seeks analytic tools at near single plant level, and this work explores how to improve…
This paper presents a pipeline for semantic segmentation of trees into their components. Given a single RGB-D image of a tree, we employ a deep network to predict labels to classify each pixel of the tree into trunk, branches, twigs and leaves. Multiple convolutional neural network architectures to…
Robotic painting is well-established in controlled factory environments, but there is now potential for mobile robots to do functional painting tasks around the everyday world. An obvious first target for such robots is painting a uniform single color. A step further is the painting of textured imag…
This paper describes a system to map a ground-plane, and to subsequently use the map for localization of a mobile robot. The robot has a downward-facing camera, and works on a variety of ground textures including general texture like tarmac, man-made designs like carpet, and rectilinear textures lik…
We present an algorithm to compute parametric models of dense foliage. The guiding principles of our work are automatic reconstruction and compact artist friendly representation. We use Bezier patches to model leaf surface, which we compute from images and point clouds of dense foliage. We present a…
Handshakes are common greetings, and humans therefore have strong priors of what a handshake should feel like. This makes it challenging to create compelling and realistic human-robot handshakes, necessitating the consideration of human haptic perception in the design of robot hands. At its most bas…
In this paper, we propose a GPU parallelized SLAM system capable of using photometric and inertial data together with depth data from an active RGB-D sensor to build accurate dense 3D maps of indoor environments. We describe several extensions to existing dense SLAM techniques that allow us to opera…
We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator. The goal is to make the inspection process safer and more efficient and facilitate data collection about tree cavities, which are important…