Lidar-based tree recognition and platform localization in orchards

Journal of Field Robotics

Volumn 32, Issue 8, 2015, Pages 1056-1074

  Underwood, James P ^a   Jagbrant, Gustav ^a   Nieto, Juan I ^a   Sukkarieh, Salah ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURE; CROPS; FARMS; FORESTRY; GLOBAL POSITIONING SYSTEM; HIDDEN MARKOV MODELS; IMAGE MATCHING; MARKOV PROCESSES; MEASUREMENT ERRORS; OPTICAL RADAR; ORCHARDS; STRUCTURE (COMPOSITION); TRACKING (POSITION);

HIDDEN SEMI-MARKOV MODELING; MATCHING PERFORMANCE; NATURAL STRUCTURES; PRIMARY OBJECTIVE; RECOGNITION METHODS; SEASONAL VARIATION; SEGMENTATION ERROR; VICTORIA , AUSTRALIA;

TREES (MATHEMATICS);

EID: 84955213128     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.21607     Document Type: Article

References (21)

1. AUVSI, (2013). Commercial Ag Goes Unmanned. AUVSI's Mission Critical, 3, 1-32.
2. Bergerman, M., Van Henten, E., Billingsley, J., Reid, J., &, Mingcong, D., (2013). IEEE Robotics and Automation Society technical committee on agricultural robotics and automation. IEEE Robotics and Automation Magazine, 20 (2), 20-23.
3. Bosse, M., &, Zlot, R., (2013). Place recognition using keypoint voting in large 3D lidar datasets. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, (pp. 2677-2684), IEEE.
4. Douillard, B., Underwood, J., Kuntz, N., Vlaskine, V., Quadros, A., Morton, P., &, Frenkel, A., (2011). On the segmentation of 3d lidar point clouds. In International Conference on Robotics and Automation (ICRA), (pp. 2798-2805), IEEE, Shanghai, China.
5. Fox, D., Burgard, W., &, Thrun, S., (1999). Markov localization for mobile robots in dynamic environments. Journal of Artificial Intelligence Research, 11, 391-427.
6. Frome, A., Huber, D., Kolluri, R., Bülow, T., &, Malik, J., (2004). Recognizing objects in range data using regional point descriptors. In Computer Vision-ECCV 2004, (pp. 224-237), Springer, Prague, Czech Republic.
7. Jagbrant, G., Underwood, J. P., Nieto, J., &, Sukkarieh, S., (2013). Lidar based tree and platform localisation in almond orchards. In Field and Service Robotics, (pp. 469-483). Springer.
8. Johnson, A. E., (1997). Spin-images: A representation for 3-D surface matching. PhD thesis, Microsoft Research, Brisbane, Australia.
9. Milford, M., (2012). Visual route recognition with a handful of bits. In Proceedings of Robotics Science and Systems Conference. University of Sydney, Sydney, Australia.
10. Moorehead, S. J., Wellington, C. K., Gilmore, B. J., &, Vallespi, C., (2012). Automating orchards: A system of autonomous tractors for orchard maintenance. In Workshop on Agricultural Robotics: Enabling Safe, Efficient, and Affordable Robots for Food Production (Collocated with IROS 2012), Vilamoura, Portugal.
11. Nielsen, M., Slaughter, D. C., Gliever, C., &, Upadhyaya, S., (2012). Orchard and tree mapping and description using stereo vision and lidar. SPC-03: IV International Workshop on Computer Image Analysis in Agriculture, Valencia, Spain, July 8-11, 2012.
12. Osada, R., Funkhouser, T., Chazelle, B., &, Dobkin, D., (2002). Shape distributions. ACM Transactions on Graphics (TOG), 21 (4), 807-832.
13. Pauling, F., Bosse, M., &, Zlot, R., (2009). Automatic segmentation of 3D laser point clouds by ellipsoidal region growing. In Australasian Conference on Robotics and Automation, (p. 10), Sydney, Australia, Dec 2-4, 2009. Proceedings are published online by ARAA: http://www.araa.asn.au/conferences/acra-2009/table-of-contents/
14. Rabiner, L., (1989). A tutorial on hidden markov models and selected applications in speech recognition. Proceedings of the IEEE, 77 (2), 257-286.
15. Rahman, S., &, Zelinsky, A., (1999). Mobile robot navigation based on localisation using hidden Markov models. Australasian Conference on Robotics and Automation (ACRA), March 20-April 1, 1999 Brisbane, Australia proceedings published online by ARAA: http://www.araa.asn.au/conferences/acra-1999/table-of-contents/
16. Rosell, Polo, J. R., Sanz, R., Llorens, J., Arnõ, J., Escolà, A., Ribes-Dasi, M., Masip, J., Camp, F., Gràcia, F., Solanelles, F., et al., (2009). A tractor-mounted scanning lidar for the non-destructive measurement of vegetative volume and surface area of tree-row plantations: A comparison with conventional destructive measurements. Biosystems Engineering, 102 (2), 128-134.
17. Rusu, R. B., Blodow, N., Marton, Z. C., &, Beetz, M., (2008). Aligning point cloud views using persistent feature histograms. In International Conference on Intelligent Robots and Systems (IROS), (pp. 3384-3391). IEEE/RSJ, Nice, France.
18. Wei, J., &, Salyani, M., (2005). Development of a laser scanner for measuring tree canopy characteristics phase 2. Foliage density measurement. Transactions of the ASAE, 48 (4), 1595-1601.
19. Wellington, C., Campoy, J., Khot, L., &, Ehsani, R., (2012). Orchard tree modeling for advanced sprayer control and automatic tree inventory. In International Conference on Intelligent Robots and Systems (IROS) Workshop on Agricultural Robotics, (pp. 5-6). IEEE/RSJ, Vilamoura, Portugal.
20. Wohlkinger, W., &, Vincze, M., (2011). Ensemble of shape functions for 3d object classification. In International Conference on Robotics and Biomimetics (ROBIO), (pp. 2987-2992), IEEE, [AB12], Phuket Island, Thailand, Dec 7-11 2011.
21. Yu, S.-Z., (2010). Hidden semi-Markov models. Artificial Intelligence, 174 (2), 215-243.