9 accepted papers
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable information in highly unstructured, GPS-denied environments
This paper investigates servicing waypoints in a wide area using collaborative deployments of vehicles with heterogeneous range and mobility constraints. We formulate a joint planning problem for a single transport truck and multiple service drones in which the truck is constrained to a road and mus…
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 correspondences, even with partial overlap and noise. We run loop closu
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 surrounded by leaves, thorns and vines, and the sensor typically exp
Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication to be manually defined by an expert; this is true regardless of whether the behaviors themselves are bespoke, optimizatio…
In this letter, we present a cheap, lightweight, and fast fruit counting pipeline. Our pipeline relies only on a monocular camera, and achieves counting performance comparable to a state-of-the-art fruit counting system that utilizes an expensive sensor suite including a monocular camera, LiDAR and
We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of images. Our pipeline works on image streams from a monocular camera, both in natural light, as well as with controlled illu…
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In this letter, we propose an unsupervised learning algorithm t
This paper describes a fruit counting pipeline based on deep learning that accurately counts fruit in unstructured environments. Obtaining reliable fruit counts is challenging because of variations in appearance due to illumination changes and occlusions from foliage and neighboring fruits. We propo