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cs.RO2026
Semantic Landmark Particle Filter for Robot Localisation in Vineyards
Rajitha de Silva, Jonathan Cox, James R. Heselden +3
Reliable localisation in vineyards is hindered by row-level perceptual aliasing: parallel crop rows produce nearly identical LiDAR observations, causing geometry-only and vision-ba…
cs.RO2026
Perception-Aware Autonomous Exploration in Feature-Limited Environments
Moji Shi, Rajitha de Silva, Hang Yu +2
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage e…
cs.RO2025
Semantic-Aware Particle Filter for Reliable Vineyard Robot Localisation
Rajitha de Silva, Jonathan Cox, James R. Heselden +3
Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptua…