44 citations · 98 across the 17 of their papers we have counts for
18 papers
Leaving the Lines Behind: Vision-Based Crop Row Exit for Agricultural Robot Navigation
Rajitha de Silva, Grzegorz Cielniak, Junfeng Gao
Usage of purely vision based solutions for row switching is not well explored in existing vision based crop row navigation frameworks. This method only uses RGB images for local fe…
Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset
Riccardo Polvara, Sergi Molina Mellado, Ibrahim Hroob +2
Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high…
Cloud Hopping; Navigating in 3D Uneven Environments via Supervoxels and Control Lyapunov Function
Fetullah Atas, Grzegorz Cielniak, Lars Grimstad
This paper presents a novel feedback motion planning method for mobile robot navigation in 3D uneven terrains. We take advantage of the \textit{supervoxel} representation of point…
Vision based Crop Row Navigation under Varying Field Conditions in Arable Fields
Rajitha de Silva, Grzegorz Cielniak, Junfeng Gao
Accurate crop row detection is often challenged by the varying field conditions present in real-world arable fields. Traditional colour based segmentation is unable to cater for al…
Statistical shape representations for temporal registration of plant components in 3D
Karoline Heiwolt, Cengiz Öztireli, Grzegorz Cielniak
Plants are dynamic organisms and understanding temporal variations in vegetation is an essential problem for robots in the wild. However, associating repeated 3D scans of plants ac…
Deep learning-based Crop Row Detection for Infield Navigation of Agri-Robots
Rajitha de Silva, Grzegorz Cielniak, Gang Wang +1
Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State-of-the-art solutions for autonomous navigation in su…
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
Fetullah Atas, Grzegorz Cielniak, Lars Grimstad
This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method a…
Towards Infield Navigation: leveraging simulated data for crop row detection
Rajitha de Silva, Grzegorz Cielniak, Junfeng Gao
Agricultural datasets for crop row detection are often bound by their limited number of images. This restricts the researchers from developing deep learning based models for precis…
Gaussian map predictions for 3D surface feature localisation and counting
Justin Le Louëdec, Grzegorz Cielniak
In this paper, we propose to employ a Gaussian map representation to estimate precise location and count of 3D surface features, addressing the limitations of state-of-the-art meth…
3D shape sensing and deep learning-based segmentation of strawberries
Justin Le Louëdec, Grzegorz Cielniak
Automation and robotisation of the agricultural sector are seen as a viable solution to socio-economic challenges faced by this industry. This technology often relies on intelligen…
Towards agricultural autonomy: crop row detection under varying field conditions using deep learning
Rajitha de Silva, Grzegorz Cielniak, Junfeng Gao
This paper presents a novel metric to evaluate the robustness of deep learning based semantic segmentation approaches for crop row detection under different field conditions encoun…
Self-supervised Representation Learning for Reliable Robotic Monitoring of Fruit Anomalies
Taeyeong Choi, Owen Would, Adrian Salazar-Gomez +1
Data augmentation can be a simple yet powerful tool for autonomous robots to fully utilise available data for selfsupervised identification of atypical scenes or objects. State-of-…
Adaptive Selection of Informative Path Planning Strategies via Reinforcement Learning
Taeyeong Choi, Grzegorz Cielniak
In our previous work, we designed a systematic policy to prioritize sampling locations to lead significant accuracy improvement in spatial interpolation by using the prediction unc…
Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards
Ibrahim Hroob, Riccardo Polvara, Sergi Molina +2
In this work, we present a comparative analysis of the trajectories estimated from various Simultaneous Localization and Mapping (SLAM) systems in a simulation environment for vine…
Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot Navigation
Fetullah Atas, Lars Grimstad, Grzegorz Cielniak
Sampling-Based Optimal(SBO) path planning has been mainly used for robotic arm manipulation tasks. Several research works have been carried out in order to evaluate performances of…
Kriging-Based Robotic Exploration for Soil Moisture Mapping Using a Cosmic-Ray Sensor
Jaime Pulido Fentanes, Amir Badiee, Tom Duckett +3
Soil moisture monitoring is a fundamental process to enhance agricultural outcomes and to protect the environment. The traditional methods for measuring moisture content in soil ar…
Warped Hypertime Representations for Long-term Autonomy of Mobile Robots
Tomas Krajnik, Tomas Vintr, Sergi Molina +3
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variat…
3D Soil Compaction Mapping through Kriging-based Exploration with a Mobile Robot
Jaime Pulido Fentanes, Iain Gould, Tom Duckett +2
This paper presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs…