Digital Analytics and Robotics for Sustainable Forestry

Informacje na temat projektu

DIGIFOREST

Identyfikator umowy o grant: 101070405

DOI

10.3030/101070405

Projekt został zamknięty

Data podpisania przez KE 13 Maja 2022

Data rozpoczęcia 1 Września 2022

Data zakończenia 28 Lutego 2026

Finansowanie w ramach

• Digital, Industry and Space

Koszt całkowity

€ 2 730 222,48

Wkład UE

€ 2 399 074,23

Koordynowany przez

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN
Germany

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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

Publikacje

Conference proceedings (20)

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

Autorzy: Martin Jacquet, Kostas Alexis
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610572

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

Autorzy: Luca Lobefaro, Meher V. R. Malladi, Tiziano Guadagnino, Cyrill Stachniss
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10802321

SOLVR: Submap Oriented LiDAR-Visual Re-Localisation

Autorzy: Joshua Knights, Sebastián Barbas Laina, Peyman Moghadam, Stefan Leutenegger
Opublikowane w: 2025 IEEE International Conference on Robotics and Automation (ICRA)
Wydawca: IEEE
DOI: 10.48550/ARXIV.2409.10247

DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics

Autorzy: Meher V. R. Malladi, Nived Chebrolu, Irene Scacchetti, Luca Lobefaro, Tiziano Guadagnino, Benoit Casseau, Haedam Oh, Leonard Freißmuth, Markus Karppinen, Janine Schweier, Stefan Leutenegger, Jens Behley, Cyrill Stachniss, Maurice Fallon
Opublikowane w: 2025 IEEE International Conference on Robotics and Automation (ICRA)
Wydawca: IEEE

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

Autorzy: Edo Jelavic, Tun Kapgen, Simon Kerscher, Dominic Jud, Marco Hutter
Opublikowane w: Innovation in Forestry Robotics: Research and Industry Adoption, ICRA 2022 IFRRIA Workshop, Philadelphia, PA, USA, May 23, 2022, 2022
Wydawca: 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

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

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

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

Neural Control Barrier Functions for Safe Navigation

Autorzy: Marvin Harms, Mihir Kulkarni, Nikhil Khedekar, Martin Jacquet, Kostas Alexis
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10802694

Fast Traversability Estimation for Wild Visual Navigation

Autorzy: Frey, J; Mattamala, M; Chebrolu, N; Cadena, C; Fallon, M; Hutter, M
Opublikowane w: Robotics: Science and Systems XIX, 2023
Wydawca: Robotics: Science and Systems (RSS)
DOI: 10.3929/ETHZ-B-000612180

MEM: Multi-Modal Elevation Mapping for Robotics and Learning

Autorzy: Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter
Opublikowane w: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Wydawca: IEEE
DOI: 10.1109/IROS55552.2023.10342108

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

Autorzy: Haedam Oh, Nived Chebrolu, Matias Mattamala, Leonard Freißmuth, Maurice Fallon
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10801297

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding

Autorzy: Mihir Kulkarni, Kostas Alexis
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610287

Effectively Detecting Loop Closures using Point Cloud Density Maps

Autorzy: Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Cyrill Stachniss
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610962

Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System

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

Motion Primitives Planning For Center-Articulated Vehicles

Autorzy: Jiangpeng Hu, Fan Yang, Fang Nan, Marco Hutter
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10801937

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

Autorzy: Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610460

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

Autorzy: Benoît Casseau, Nived Chebrolu, Matias Mattamala, Leonard Freissmuth, Maurice Fallon
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10802448

Dynamic Throwing with Robotic Material Handling Machines

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

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

Autorzy: 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
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping

Autorzy: Jaehyung Jung, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
Opublikowane w: 2025 IEEE International Conference on Robotics and Automation
Wydawca: IEEE
DOI: 10.48550/ARXIV.2409.12051

Peer reviewed articles (9)

Learning Adaptive Controller for Hydraulic Machinery Automation

Autorzy: Fang Nan, Marco Hutter
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.3929/ETHZ-B-000667484

iPlanner: Imperative Path Planning

Autorzy: Yang, Fan; Wang, Chen; Cadena, Cesar; Hutter, Marco
Opublikowane w: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Wydawca: Robotics: Science and Systems (RSS)
DOI: 10.48550/arxiv.2302.11434

Fast Traversability Estimation for Wild Visual Navigation

Autorzy: Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Opublikowane w: Robotics: Science and Systems (RSS), 2023, ISSN 0000-0000
Wydawca: 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

Autorzy: Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss
Opublikowane w: IEEE Transactions on Robotics, Numer 40, 2024, ISSN 1552-3098
Wydawca: 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

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

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

Autorzy: Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
Wydawca: 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

Autorzy: Arnadi Murtiyoso, Stefan Holm, Henri Riihimäki, Anna Krucher, Holger Griess, Verena Christiane Griess, Janine Schweier
Opublikowane w: International Journal of Forest Engineering, Numer 35, 2024, ISSN 1494-2119
Wydawca: 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

Autorzy: Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan D. Gammell, Maurice Fallon
Opublikowane w: IEEE Transactions on Field Robotics, Numer 1, 2025, ISSN 2997-1101
Wydawca: 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

Autorzy: Louis Wiesmann, Thomas Läbe, Lucas Nunes, Jens Behley, Cyrill Stachniss
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3457385