Towards Real-Time Forest Inventory using Handheld LiDAR
Автор: Oxford Dynamic Robot Systems Group
Загружено: 2022-08-20
Просмотров: 2137
Описание:
Paper appearing in Journal of Robotics and Autonomous Systems (RAS).
More details:
https://digiforest.eu/news/2022-08-19...
Contributions:
• An online mapping system for forest environments using a handheld LiDAR.
• Segmentation, tracking and mapping of trees in the forest.
• Estimation of Diameter at Breast Height (DBH) for individual trees in the forest.
• Pose-graph SLAM system with loop closure integration to correct for odometry drift.
• Multi-session mapping capability to merge scans in a post-processing step.
• Demonstration in challenging large scale forests spanning several kilometers.
Authors: Alexander Proudman, Milad Ramezani, Sundara Tejaswi Digumarti, Nived Chebrolu, Maurice Fallon
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