| Full text | |
| Author(s): |
Nardari, V, Guilherme
;
Cohen, Avraham
[1]
;
Chen, Steven W.
[1, 2]
;
Liu, Xu
[1]
;
Arcot, Vaibhav
[1, 2]
;
Romero, Roseli A. F.
[3]
;
Kumar, Vijay
[1]
Total Authors: 7
|
| Affiliation: | [1] Nardari, Guilherme, V, Univ Penn, GRASP Lab, Philadelphia, PA 19104 - USA
[2] Treeswift, Philadelphia, PA 19104 - USA
[3] Nardari, Guilherme, V, Univ Sao Paulo, Robot Learning Lab, BR-13566590 Sao Carlos, SP - Brazil
Total Affiliations: 3
|
| Document type: | Journal article |
| Source: | IEEE ROBOTICS AND AUTOMATION LETTERS; v. 6, n. 2, p. 279-286, APR 2021. |
| Web of Science Citations: | 0 |
| Abstract | |
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 closure detection experiments in simulation and real-world data map-merging from different flights of an Unmanned Aerial Vehicle (UAV) in a pine tree forest and show that our method outperforms state-of-the-art approaches in accuracy and robustness. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 18/24526-5 - Estimation of crop structure and health using heterogeneous robots |
| Grantee: | Guilherme Vicentim Nardari |
| Support Opportunities: | Scholarships abroad - Research Internship - Doctorate (Direct) |