11 papers
Perception-Aware Autonomous Exploration in Feature-Limited Environments
Moji Shi, Rajitha de Silva, Hang Yu +3
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage e…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
Jacob Elskamp, Moji Shi, Leonard Bauersfeld +2
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Stan…
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…
Active Informative Planning for UAV-based Weed Mapping using Discrete Gaussian Process Representations
Jacob Swindell, Marija PopoviÄ, Riccardo Polvara
Accurate agricultural weed mapping using unmanned aerial vehicles (UAVs) is crucial for precision farming. While traditional methods rely on rigid, pre-defined flight paths and int…
Dynamic Visual SLAM using a General 3D Prior
Xingguang Zhong, Liren Jin, Marija PopoviÄ +2
Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. Ho…
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map
Yue Pan, Xingguang Zhong, Liren Jin +4
Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be ach…