11 papers · 1 filter
Normalise or condition? Noise-floor front-ends for on-board keyword spotting under UAV rotor ego-noise
Yida Lin, Bing Xue, Mengjie Zhang +2
A microphone on the airframe of a small multi-rotor UAV is dominated by rotor ego-noise, so spoken flight commands arrive at negative signal-to-noise ratio (SNR). We study small-fo…
EMCStereo: Attention-Enhanced Stereo Matching for Thin-Structure Depth Estimation with a Synthetic Tree-Branch Benchmark
Yida Lin, Bing Xue, Mengjie Zhang +2
Thin structures such as tree branches are among the hardest cases for stereo matching: a branch is only a few pixels wide, the background is cluttered, and dense ground truth for r…
What Does the Encoder Actually Decide? A Controlled Comparison of Vision Backbones on Joint Tree Segmentation and Stereo Depth
Yida Lin, Bing Xue, Mengjie Zhang +2
A robot pruning trees needs two facts per pixel: whether it belongs to a tree, and its distance. Both are usually obtained via task heads attached to a vision backbone chosen by re…
Beyond Visibility: Real-Time Surface Accessibility Fields from Sparse LiDAR
Bradley Scott, Sam Schofield, Richard Green
Understanding which surfaces in a scene are physically accessible to a given tool is fundamental for robotic interaction, yet 3D perception systems typically stop at geometric reco…
Low-Cost Stereo Vision for Robust 3D Positioning of Thin Radiata Pine Branches in Autonomous Drone Pruning
Yida Lin, Bing Xue, Mengjie Zhang +2
Manual pruning of radiata pine, a species of major economic importance to New Zealand forestry, is hazardous, labour-intensive, and increasingly constrained by workforce shortages.…
Positioning radiata pine branches requiring pruning by drone stereo vision
Yida Lin, Bing Xue, Mengjie Zhang +2
This paper presents a stereo-vision-based system mounted on a drone for detecting and localising radiata pine branches to support autonomous pruning. The proposed pipeline comprise…
Real-Time Branch-to-Tool Distance Estimation for Autonomous UAV Pruning: Benchmarking Five DEFOM-Stereo Variants from Simulation to Jetson Deployment
Yida Lin, Bing Xue, Mengjie Zhang +2
Autonomous tree pruning with unmanned aerial vehicles (UAVs) is a safety-critical real-world task: the onboard perception system must estimate the metric distance from a cutting to…
UE5-Forest: A Photorealistic Synthetic Stereo Dataset for UAV Forestry Depth Estimation
Yida Lin, Bing Xue, Mengjie Zhang +2
Dense ground-truth disparity maps are practically unobtainable in forestry environments, where thin overlapping branches and complex canopy geometry defeat conventional depth senso…
Progressive Per-Branch Depth Optimization for DEFOM-Stereo and SAM3 Joint Analysis in UAV Forestry Applications
Yida Lin, Bing Xue, Mengjie Zhang +2
Accurate per-branch 3D reconstruction is a prerequisite for autonomous UAV-based tree pruning; however, dense disparity maps from modern stereo matchers often remain too noisy for…
Training Deep Stereo Matching Networks on Tree Branch Imagery: A Benchmark Study for Real-Time UAV Forestry Applications
Yida Lin, Bing Xue, Mengjie Zhang +2
Autonomous drone-based tree pruning needs accurate, real-time depth estimation from stereo cameras. Depth is computed from disparity maps using , so even small disparity…
Towards Gold-Standard Depth Estimation for Tree Branches in UAV Forestry: Benchmarking Deep Stereo Matching Methods
Yida Lin, Bing Xue, Mengjie Zhang +2
Autonomous UAV forestry operations require robust depth estimation with strong cross-domain generalization, yet existing evaluations focus on urban and indoor scenarios, leaving a…