Digital Analytics and Robotics for Sustainable Forestry

Información del proyecto

DIGIFOREST

Identificador del acuerdo de subvención: 101070405

DOI

10.3030/101070405

Fecha de la firma de la CE 13 Mayo 2022

Fecha de inicio 1 Septiembre 2022

Fecha de finalización 28 Febrero 2026

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 2 730 222,48

Aportación de la UE

€ 2 399 074,23

Coordinado por

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN
Germany

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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

Publicaciones

Conference proceedings (17)

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

Autores: Martin Jacquet, Kostas Alexis
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/ICRA57147.2024.10610572

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

Autores: Luca Lobefaro, Meher V. R. Malladi, Tiziano Guadagnino, Cyrill Stachniss
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802321

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

Autores: Edo Jelavic, Tun Kapgen, Simon Kerscher, Dominic Jud, Marco Hutter
Publicado en: Innovation in Forestry Robotics: Research and Industry Adoption, ICRA 2022 IFRRIA Workshop, Philadelphia, PA, USA, May 23, 2022, 2022
Editor: 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

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

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

Autores: Matias Mattamala, Nived Chebrolu, Benoit Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice Fallon
Publicado en: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2404.14157

Neural Control Barrier Functions for Safe Navigation

Autores: Marvin Harms, Mihir Kulkarni, Nikhil Khedekar, Martin Jacquet, Kostas Alexis
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802694

Fast Traversability Estimation for Wild Visual Navigation

Autores: Frey, J; Mattamala, M; Chebrolu, N; Cadena, C; Fallon, M; Hutter, M
Publicado en: Robotics: Science and Systems XIX, 2023
Editor: Robotics: Science and Systems (RSS)
DOI: 10.3929/ETHZ-B-000612180

MEM: Multi-Modal Elevation Mapping for Robotics and Learning

Autores: Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter
Publicado en: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Editor: IEEE
DOI: 10.1109/IROS55552.2023.10342108

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

Autores: Haedam Oh, Nived Chebrolu, Matias Mattamala, Leonard Freißmuth, Maurice Fallon
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10801297

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding

Autores: Mihir Kulkarni, Kostas Alexis
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/ICRA57147.2024.10610287

Effectively Detecting Loop Closures using Point Cloud Density Maps

Autores: Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Cyrill Stachniss
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/ICRA57147.2024.10610962

Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System

Autores: Leonard Freißmuth, Matias Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice Fallon
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802455

Motion Primitives Planning For Center-Articulated Vehicles

Autores: Jiangpeng Hu, Fan Yang, Fang Nan, Marco Hutter
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10801937

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

Autores: Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/ICRA57147.2024.10610460

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

Autores: Benoît Casseau, Nived Chebrolu, Matias Mattamala, Leonard Freissmuth, Maurice Fallon
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802448

Dynamic Throwing with Robotic Material Handling Machines

Autores: Lennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Marco Hutter
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802743

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

Autores: 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
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE

Peer reviewed articles (9)

Learning Adaptive Controller for Hydraulic Machinery Automation

Autores: Fang Nan, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.3929/ETHZ-B-000667484

iPlanner: Imperative Path Planning

Autores: Yang, Fan; Wang, Chen; Cadena, Cesar; Hutter, Marco
Publicado en: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Editor: Robotics: Science and Systems (RSS)
DOI: 10.48550/arxiv.2302.11434

Fast Traversability Estimation for Wild Visual Navigation

Autores: Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Publicado en: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Editor: 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

Autores: Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Transactions on Robotics, Edición 40, 2024, ISSN 1552-3098
Editor: 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

Autores: Arnadi Murtiyoso; Stefan Holm; Henri Riihimäki; Anna Krucher; Holger Griess; Verena Christiane Griess; Janine Schweier
Publicado en: International Journal of Forest Engineering, 2023, ISSN 0000-0000
Editor: Taylor & Francis
DOI: 10.3929/ethz-b-000617479

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

Autores: Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 2377-3766
Editor: 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

Autores: Arnadi Murtiyoso, Stefan Holm, Henri Riihimäki, Anna Krucher, Holger Griess, Verena Christiane Griess, Janine Schweier
Publicado en: International Journal of Forest Engineering, Edición 35, 2024, ISSN 1494-2119
Editor: 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

Autores: Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan D. Gammell, Maurice Fallon
Publicado en: IEEE Transactions on Field Robotics, Edición 1, 2025, ISSN 2997-1101
Editor: 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

Autores: Louis Wiesmann, Thomas Läbe, Lucas Nunes, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3457385