12,747 research outputs found
AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming
The combination of aerial survey capabilities of Unmanned Aerial Vehicles
with targeted intervention abilities of agricultural Unmanned Ground Vehicles
can significantly improve the effectiveness of robotic systems applied to
precision agriculture. In this context, building and updating a common map of
the field is an essential but challenging task. The maps built using robots of
different types show differences in size, resolution and scale, the associated
geolocation data may be inaccurate and biased, while the repetitiveness of both
visual appearance and geometric structures found within agricultural contexts
render classical map merging techniques ineffective. In this paper we propose
AgriColMap, a novel map registration pipeline that leverages a grid-based
multimodal environment representation which includes a vegetation index map and
a Digital Surface Model. We cast the data association problem between maps
built from UAVs and UGVs as a multimodal, large displacement dense optical flow
estimation. The dominant, coherent flows, selected using a voting scheme, are
used as point-to-point correspondences to infer a preliminary non-rigid
alignment between the maps. A final refinement is then performed, by exploiting
only meaningful parts of the registered maps. We evaluate our system using real
world data for 3 fields with different crop species. The results show that our
method outperforms several state of the art map registration and matching
techniques by a large margin, and has a higher tolerance to large initial
misalignments. We release an implementation of the proposed approach along with
the acquired datasets with this paper.Comment: Published in IEEE Robotics and Automation Letters, 201
Compression for Smooth Shape Analysis
Most 3D shape analysis methods use triangular meshes to discretize both the
shape and functions on it as piecewise linear functions. With this
representation, shape analysis requires fine meshes to represent smooth shapes
and geometric operators like normals, curvatures, or Laplace-Beltrami
eigenfunctions at large computational and memory costs.
We avoid this bottleneck with a compression technique that represents a
smooth shape as subdivision surfaces and exploits the subdivision scheme to
parametrize smooth functions on that shape with a few control parameters. This
compression does not affect the accuracy of the Laplace-Beltrami operator and
its eigenfunctions and allow us to compute shape descriptors and shape
matchings at an accuracy comparable to triangular meshes but a fraction of the
computational cost.
Our framework can also compress surfaces represented by point clouds to do
shape analysis of 3D scanning data
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