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Publications

2022

Localization and Mapping on Agriculture Based on Point-Feature Extraction and Semiplanes Segmentation From 3D LiDAR Data

Authors
Aguiar, AS; dos Santos, FN; Sobreira, H; Boaventura Cunha, J; Sousa, AJ;

Publication
FRONTIERS IN ROBOTICS AND AI

Abstract
Developing ground robots for agriculture is a demanding task. Robots should be capable of performing tasks like spraying, harvesting, or monitoring. However, the absence of structure in the agricultural scenes challenges the implementation of localization and mapping algorithms. Thus, the research and development of localization techniques are essential to boost agricultural robotics. To address this issue, we propose an algorithm called VineSLAM suitable for localization and mapping in agriculture. This approach uses both point- and semiplane-features extracted from 3D LiDAR data to map the environment and localize the robot using a novel Particle Filter that considers both feature modalities. The numeric stability of the algorithm was tested using simulated data. The proposed methodology proved to be suitable to localize a robot using only three orthogonal semiplanes. Moreover, the entire VineSLAM pipeline was compared against a state-of-the-art approach considering three real-world experiments in a woody-crop vineyard. Results show that our approach can localize the robot with precision even in long and symmetric vineyard corridors outperforming the state-of-the-art algorithm in this context.

2022

FollowMe - A Pedestrian Following Algorithm for Agricultural Logistic Robots

Authors
Sarmento, J; Dos Santos, FN; Aguiar, AS; Sobreira, H; Regueiro, CV; Valente, A;

Publication
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2022

Path Planning with Hybrid Maps for processing and memory usage optimisation

Authors
Santos, LC; Santos, FN; Aguiar, AS; Valente, A; Costa, P;

Publication
2022 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract

2022

ATOM: A general calibration framework for multi-modal, multi-sensor systems

Authors
Oliveira, M; Pedrosa, E; de Aguiar, AP; Rato, DFPD; dos Santos, FN; Dias, P; Santos, V;

Publication
EXPERT SYSTEMS WITH APPLICATIONS

Abstract

2021

Particle filter refinement based on clustering procedures for high-dimensional localization and mapping systems

Authors
Aguiar, AS; dos Santos, FN; Sobreira, H; Cunha, JB; Sousa, AJ;

Publication
ROBOTICS AND AUTONOMOUS SYSTEMS

Abstract