6 papers
Autonomous Robotic Mapping of Fragile Geologic Features
Zhiang Chen, J Ramon Arrowsmith, Jnaneshwar Das
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed…
Robotics During a Pandemic: The 2020 NSF CPS Virtual Challenge -- SoilScope, Mars Edition
Darwin Mick, K. Srikar Siddarth, Swastik Nandan +3
Remote sample recovery is a rapidly evolving application of Small Unmanned Aircraft Systems (sUAS) for planetary sciences and space exploration. Development of cyber-physical syste…
Localization and Mapping of Sparse Geologic Features with Unpiloted Aircraft Systems
Zhiang Chen, Sarah Bearman, J Ramon Arrowsmith +1
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed…
Geomorphological Analysis Using Unpiloted Aircraft Systems, Structure from Motion, and Deep Learning
Zhiang Chen, Tyler R. Scott, Sarah Bearman +5
We present a pipeline for geomorphological analysis that uses structure from motion (SfM) and deep learning on close-range aerial imagery to estimate spatial distributions of rock…
Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association
Xu Liu, Steven W. Chen, Chenhao Liu +5
We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting perfor…
Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion
Xu Liu, Steven W. Chen, Shreyas Aditya +6
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 ima…