Digital Analytics and Robotics for Sustainable Forestry

Project Information

DIGIFOREST

Grant agreement ID: 101070405

DOI

10.3030/101070405

EC signature date 13 May 2022

Start date 1 September 2022

End date 28 February 2026

Funded under

• Digital, Industry and Space

Total cost

€ 2 730 222,48

EU contribution

€ 2 399 074,23

Coordinated by

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN
Germany

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (13)

Field results: Per-platform multi-modal, state estimation software stacks
Semantic mapping system and traversabil- ity analysis for under canopy operation

Semantic mapping system and traversability analysis for under canopy operation

Description of project website, social me- dia, printed promotional material

Description of project website, social media, printed promotional material

Report describing sensor requirements
Demo of active chassis balancing on SAHA
Semantic segmentation system for forest environments
Document defining Map Server interfaces
Report defining data format & software API for multi-robot map sharing
Open Dataset of longitudinal forest survey incl ground truth
Field demonstration: Per-platform (traversability-aware) navigation in forests
Documentation of forest training provided
Report demonstrating achievement of sys- tems up to 2nd mid-project review

Report demonstrating achievement of systems up to 2nd mid-project review(2nd review added after proposal acceptance)published in international conference

Report describing map server — for robot and base station mapping

Publications

Conference proceedings (17)

N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images

Author(s): Martin Jacquet, Kostas Alexis
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610572

Spatio-Temporal Consistent Mapping of Growing Plants for Agricultural Robots in the Wild

Author(s): Luca Lobefaro, Meher V. R. Malladi, Tiziano Guadagnino, Cyrill Stachniss
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802321

Harveri: A small (Semi-) Autonomous precision tree harvester

Author(s): Edo Jelavic, Tun Kapgen, Simon Kerscher, Dominic Jud, Marco Hutter
Published in: Innovation in Forestry Robotics: Research and Industry Adoption, ICRA 2022 IFRRIA Workshop, Philadelphia, PA, USA, May 23, 2022, 2022
Publisher: ETH Zurich, Institute of Robotics and Intelligent Systems
DOI: 10.3929/ETHZ-B-000549974

Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots

Author(s): Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro, Matias Mattamala, Holger Griess, Janine Schweier, Nived Chebrolu, Maurice Fallon, Jens Behley, Cyrill Stachniss
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10611169

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment

Author(s): Matias Mattamala, Nived Chebrolu, Benoit Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice Fallon
Published in: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Publisher: IEEE
DOI: 10.48550/ARXIV.2404.14157

Neural Control Barrier Functions for Safe Navigation

Author(s): Marvin Harms, Mihir Kulkarni, Nikhil Khedekar, Martin Jacquet, Kostas Alexis
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802694

Fast Traversability Estimation for Wild Visual Navigation

Author(s): Frey, J; Mattamala, M; Chebrolu, N; Cadena, C; Fallon, M; Hutter, M
Published in: Robotics: Science and Systems XIX, 2023
Publisher: Robotics: Science and Systems (RSS)
DOI: 10.3929/ETHZ-B-000612180

MEM: Multi-Modal Elevation Mapping for Robotics and Learning

Author(s): Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Publisher: IEEE
DOI: 10.1109/IROS55552.2023.10342108

Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests

Author(s): Haedam Oh, Nived Chebrolu, Matias Mattamala, Leonard Freißmuth, Maurice Fallon
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10801297

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding

Author(s): Mihir Kulkarni, Kostas Alexis
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610287

Effectively Detecting Loop Closures using Point Cloud Density Maps

Author(s): Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Cyrill Stachniss
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610962

Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System

Author(s): Leonard Freißmuth, Matias Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice Fallon
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802455

Motion Primitives Planning For Center-Articulated Vehicles

Author(s): Jiangpeng Hu, Fan Yang, Fang Nan, Marco Hutter
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10801937

Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping

Author(s): Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610460

Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph

Author(s): Benoît Casseau, Nived Chebrolu, Matias Mattamala, Leonard Freissmuth, Maurice Fallon
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802448

Dynamic Throwing with Robotic Material Handling Machines

Author(s): Lennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Marco Hutter
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802743

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End

Author(s): Zhang, Chong; id_orcid0000-0003-4173-154X; Jin, Jin; Frey, Jonas; id_orcid0000-0002-7401-2173; Rudin, Nikita; id_orcid0000-0001-5893-0348; Mattamala Aravena, Matias Eduardo; id_orcid0000-0001-6128-7808; Cadena, Cesar; id_orcid0000-0002-2972-6011; Hutter, Marco; id_orcid0000-0002-4285-4990
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE

Peer reviewed articles (9)

Learning Adaptive Controller for Hydraulic Machinery Automation

Author(s): Fang Nan, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.3929/ETHZ-B-000667484

iPlanner: Imperative Path Planning

Author(s): Yang, Fan; Wang, Chen; Cadena, Cesar; Hutter, Marco
Published in: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Publisher: Robotics: Science and Systems (RSS)
DOI: 10.48550/arxiv.2302.11434

Fast Traversability Estimation for Wild Visual Navigation

Author(s): Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Published in: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Publisher: Robotics: Science and Systems (RSS)
DOI: 10.48550/arXiv.2305.08510

PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency

Author(s): Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss
Published in: IEEE Transactions on Robotics, Issue 40, 2024, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TRO.2024.3422055

Virtual forests: a review on emerging questions in the use and application of 3D data in forestry

Author(s): Arnadi Murtiyoso; Stefan Holm; Henri Riihimäki; Anna Krucher; Holger Griess; Verena Christiane Griess; Janine Schweier
Published in: International Journal of Forest Engineering, 2023, ISSN 0000-0000
Publisher: Taylor & Francis
DOI: 10.3929/ethz-b-000617479

Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation

Author(s): Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3455788

Virtual forests: a review on emerging questions in the use and application of 3D data in forestry

Author(s): Arnadi Murtiyoso, Stefan Holm, Henri Riihimäki, Anna Krucher, Holger Griess, Verena Christiane Griess, Janine Schweier
Published in: International Journal of Forest Engineering, Issue 35, 2024, ISSN 1494-2119
Publisher: Informa UK Limited
DOI: 10.1080/14942119.2023.2217065

<i>Osprey:</i> Multisession Autonomous Aerial Mapping With LiDAR-Based SLAM and Next Best View Planning

Author(s): Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan D. Gammell, Maurice Fallon
Published in: IEEE Transactions on Field Robotics, Issue 1, 2025, ISSN 2997-1101
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TFR.2024.3432031

Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment

Author(s): Louis Wiesmann, Thomas Läbe, Lucas Nunes, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3457385