197 citations · 398 across the 13 of their papers we have counts for
12 papers · 1 filter
Towards Long-term Autonomy: A Perspective from Robot Learning
Zhi Yan, Li Sun, Tomas Krajnik +2
In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emergi…
NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation
Zhicheng Zhou, Cheng Zhao, Daniel Adolfsson +4
3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in…
Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments
Li Sun, Daniel Adolfsson, Martin Magnusson +3
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based loca…
Robot Perception of Static and Dynamic Objects with an Autonomous Floor Scrubber
Zhi Yan, Simon Schreiberhuber, Georg Halmetschlager +3
This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar,…
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…
Agricultural Robotics: The Future of Robotic Agriculture
Tom Duckett, Simon Pearson, Simon Blackmore +27
Agri-Food is the largest manufacturing sector in the UK. It supports a food chain that generates over £108bn p.a., with 3.9m employees in a truly international industry and exports…
Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data
Li Sun, Zhi Yan, Anestis Zaganidis +2
This paper presents a novel semantic mapping approach, Recurrent-OctoMap, learned from long-term 3D Lidar data. Most existing semantic mapping approaches focus on improving semanti…
Artificial Intelligence for Long-Term Robot Autonomy: A Survey
Lars Kunze, Nick Hawes, Tom Duckett +2
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in o…
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…
Learning monocular visual odometry with dense 3D mapping from dense 3D flow
Cheng Zhao, Li Sun, Pulak Purkait +2
This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and d…
The STRANDS Project: Long-Term Autonomy in Everyday Environments
Nick Hawes, Chris Burbridge, Ferdian Jovan +30
Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous serv…