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

Skin Uncertainty in Multi-Layered Commingled Reservoirs with Non-Uniform Formation Damage

Imperial Users onl

Seismic Ray Impedance Inversion

This thesis investigates a prestack seismic inversion scheme implemented in the ray parameter domain. Conventionally, most prestack seismic inversion methods are performed in the incidence angle domain. However, inversion using the concept of ray impedance, as it honours ray path variation following the elastic parameter variation according to Snell’s law, shows the capacity to discriminate different lithologies if compared to conventional elastic impedance inversion. The procedure starts with data transformation into the ray-parameter domain and then implements the ray impedance inversion along constant ray-parameter profiles. With different constant-ray-parameter profiles, mixed-phase wavelets are initially estimated based on the high-order statistics of the data and further refined after a proper well-to-seismic tie. With the estimated wavelets ready, a Cauchy inversion method is used to invert for seismic reflectivity sequences, aiming at recovering seismic reflectivity sequences for blocky impedance inversion. The impedance inversion from reflectivity sequences adopts a standard generalised linear inversion scheme, whose results are utilised to identify rock properties and facilitate quantitative interpretation. It has also been demonstrated that we can further invert elastic parameters from ray impedance values, without eliminating an extra density term or introducing a Gardner’s relation to absorb this term. Ray impedance inversion is extended to P-S converted waves by introducing the definition of converted-wave ray impedance. This quantity shows some advantages in connecting prestack converted wave data with well logs, if compared with the shearwave elastic impedance derived from the Aki and Richards approximation to the Zoeppritz equations. An analysis of P-P and P-S wave data under the framework of ray impedance is conducted through a real multicomponent dataset, which can reduce the uncertainty in lithology identification.Inversion is the key method in generating those examples throughout the entire thesis as we believe it can render robust solutions to geophysical problems. Apart from the reflectivity sequence, ray impedance and elastic parameter inversion mentioned above, inversion methods are also adopted in transforming the prestack data from the offset domain to the ray-parameter domain, mixed-phase wavelet estimation, as well as the registration of P-P and P-S waves for the joint analysis. The ray impedance inversion methods are successfully applied to different types of datasets. In each individual step to achieving the ray impedance inversion, advantages, disadvantages as well as limitations of the algorithms adopted are detailed. As a conclusion, the ray impedance related analyses demonstrated in this thesis are highly competent compared with the classical elastic impedance methods and the author would like to recommend it for a wider application

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved