scholarly journals Localization and Mapping for Robots in Agriculture and Forestry: A Survey

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 97
Author(s):  
André Silva Aguiar ◽  
Filipe Neves dos Santos ◽  
José Boaventura Cunha ◽  
Héber Sobreira ◽  
Armando Jorge Sousa
Keyword(s):  
Satellite System ◽  
Research Field ◽  
Current State ◽  
3D Localization ◽  
Localization And Mapping ◽  
Agricultural Applications ◽  
Global Navigation Satellite ◽  
Near Future ◽  
Do So

Research and development of autonomous mobile robotic solutions that can perform several active agricultural tasks (pruning, harvesting, mowing) have been growing. Robots are now used for a variety of tasks such as planting, harvesting, environmental monitoring, supply of water and nutrients, and others. To do so, robots need to be able to perform online localization and, if desired, mapping. The most used approach for localization in agricultural applications is based in standalone Global Navigation Satellite System-based systems. However, in many agricultural and forest environments, satellite signals are unavailable or inaccurate, which leads to the need of advanced solutions independent from these signals. Approaches like simultaneous localization and mapping and visual odometry are the most promising solutions to increase localization reliability and availability. This work leads to the main conclusion that, few methods can achieve simultaneously the desired goals of scalability, availability, and accuracy, due to the challenges imposed by these harsh environments. In the near future, novel contributions to this field are expected that will help one to achieve the desired goals, with the development of more advanced techniques, based on 3D localization, and semantic and topological mapping. In this context, this work proposes an analysis of the current state-of-the-art of localization and mapping approaches in agriculture and forest environments. Additionally, an overview about the available datasets to develop and test these approaches is performed. Finally, a critical analysis of this research field is done, with the characterization of the literature using a variety of metrics.

scholarly journals Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 79
Author(s):  
Dimitrios Chatziparaschis ◽  
Michail G. Lagoudakis ◽  
Panagiotis Partsinevelos
Keyword(s):  
Humanoid Robot ◽  
Satellite System ◽  
Search And Rescue ◽  
Localization Algorithm ◽  
Localization And Mapping ◽  
Planning Algorithm ◽  
Crisis Scenarios ◽  
Trained Neural Network ◽  
Unknown Area ◽  
Global Navigation Satellite

Humanitarian Crisis scenarios typically require immediate rescue intervention. In many cases, the conditions at a scene may be prohibitive for human rescuers to provide instant aid, because of hazardous, unexpected, and human threatening situations. These scenarios are ideal for autonomous mobile robot systems to assist in searching and even rescuing individuals. In this study, we present a synchronous ground-aerial robot collaboration approach, under which an Unmanned Aerial Vehicle (UAV) and a humanoid robot solve a Search and Rescue scenario locally, without the aid of a commonly used Global Navigation Satellite System (GNSS). Specifically, the UAV uses a combination of Simultaneous Localization and Mapping and OctoMap approaches to extract a 2.5D occupancy grid map of the unknown area in relation to the humanoid robot. The humanoid robot receives a goal position in the created map and executes a path planning algorithm in order to estimate the FootStep navigation trajectory for reaching the goal. As the humanoid robot navigates, it localizes itself in the map while using an adaptive Monte-Carlo Localization algorithm by combining local odometry data with sensor observations from the UAV. Finally, the humanoid robot performs visual human body detection while using camera data through a Darknet pre-trained neural network. The proposed robot collaboration scheme has been tested under a proof of concept setting in an exterior GNSS-denied environment.

scholarly journals Validation of Preliminary Results of Thermal Tropopause Derived from FY-3C GNOS Data

2019 ◽  
Vol 11 (9) ◽  
pp. 1139 ◽  
Author(s):  
Ziyan Liu ◽  
Yueqiang Sun ◽  
Weihua Bai ◽  
Junming Xia ◽  
Guangyuan Tan ◽  
...  
Keyword(s):  
Correlation Coefficients ◽  
Satellite System ◽  
Research Field ◽  
Temperature Profiles ◽  
Temperature Deviation ◽  
Climate Research ◽  
Long Term Stability ◽  
Research Fields ◽  
Global Navigation Satellite

The state-of-art global navigation satellite system (GNSS) occultation sounder (GNOS) onboard the FengYun 3 series C satellite (FY-3C) has been in operation for more than five years. The accumulation of FY-3C GNOS atmospheric data makes it ready to be used in atmosphere and climate research fields. This work first introduces FY-3C GNOS into tropopause research and gives the error evaluation results of long-term FY-3C atmosphere profiles. We compare FY-3C results with Constellation Observing System for Meteorology, Ionosphere and Climate (COSMIC) and radiosonde results and also present the FY-3C global seasonal tropopause patterns. The mean temperature deviation between FY-3C GNOS temperature profiles and COSMIC temperature profiles from January 2014 to December 2017 is globally less than 0.2 K, and the bias of tropopause height (TPH) and tropopause temperature (TPT) annual cycle derived from both collocated pairs are about 80–100 m and 1–2 K, respectively. Also, the correlation coefficients between FY-3C GNOS tropopause parameters and each radiosonde counterpart are generally larger than 0.9 and the corresponding regression coefficients are close to 1. Multiple climate phenomena shown in seasonal patterns coincide with results of other relevant studies. Our results demonstrate the long-term stability of FY-3C GNOS atmosphere profiles and utility of FY-3C GNOS data in the climate research field.

scholarly journals The Katwijk beach planetary rover dataset

2017 ◽  
Vol 37 (1) ◽  
pp. 3-12 ◽  
Author(s):  
Robert A Hewitt ◽  
Evangelos Boukas ◽  
Martin Azkarate ◽  
Marco Pagnamenta ◽  
Joshua A Marshall ◽  
...  
Keyword(s):  
Satellite System ◽  
Entire Area ◽  
Mapping Algorithms ◽  
Planetary Rover ◽  
Localization And Mapping ◽  
Stereo Cameras ◽  
Landing Sites ◽  
Aerial Vehicle ◽  
Global Navigation Satellite ◽  
Rock Size

This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.

scholarly journals SibNet — Siberian Global Navigation Satellite System Network: Current state

2018 ◽  
Vol 4 (4) ◽  
pp. 82-94 ◽  
Author(s):  
Юрий Ясюкевич ◽  
Yury Yasyukevich ◽  
Артем Веснин ◽  
Artem Vesnin ◽  
Наталья Перевалова ◽  
...  
Keyword(s):  
Global Navigation Satellite System ◽  
Satellite System ◽  
General Information ◽  
Navigation Satellite ◽  
Main Research ◽  
Current State ◽  
Wide Range ◽  
Global Navigation ◽  
Using Data ◽  
Global Navigation Satellite

In 2011, ISTP SB RAS began to deploy a routinely operating network of receivers of global navigation satellite system signals. To date, eight permanent and one temporal sites in the Siberian region are operating on a regular basis. These nine sites are equipped with 12 receivers. We use nine multi-frequency multi-system receivers of Javad manufacturer, and three specialized receivers NovAtel GPStation-6 designed to measure ionospheric phase and amplitude scintillations. The deployed network allows a wide range of ionospheric studies as well as studies of the navigation system positioning quality under various heliogeophysical conditions. This article presents general information about the network, its technical characteristics, and current state, as well as the main research problems that can be solved using data from the network.

scholarly journals RECEPTORES DE SINAIS DO SISTEMA GLOBAL DE NAVEGAÇÃO POR SATÉLITE SUBMETIDOS A INTERFERÊNCIAS FÍSICAS

2020 ◽  
Vol 35 (1) ◽  
pp. 115-125
Author(s):  
João Luiz Jacintho ◽  
Gabriel Araújo e Silva Ferraz ◽  
Lucas Santos Santana ◽  
Patrícia Ferreira Ponciano Ferraz
Keyword(s):  
Minimal Medium ◽  
Satellite System ◽  
Control Points ◽  
Satellite Navigation System ◽  
Accuracy And Precision ◽  
Agricultural Applications ◽  
Gnss Receivers ◽  
Survey Accuracy ◽  
Global Navigation Satellite ◽  
Interference Minimum

RECEPTORES DE SINAIS DO SISTEMA GLOBAL DE NAVEGAÇÃO POR SATÉLITE SUBMETIDOS A INTERFERÊNCIAS FÍSICAS   JOÃO LUIZ JACINTHO1, GABRIEL ARAÚJO E SILVA FERRAZ2, LUCAS SANTOS SANTANA3, PATRÍCIA FERREIRA PONCIANO FERRAZ4   1 Instituto Federal do Norte de Minas Gerais - IFNMG, Campus Araçuaí BR 367, km 278, s/n - Zona Rural, 39600-000, Araçuaí - MG, Brasil. [email protected]. 2 Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. [email protected]. 3Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. [email protected]. 4 Departamento de Engenharia Agrícola, Universidade Federal de Lavras – UFLA, Aquenta Sol, 3037, 37200900, Lavras - MG, Brasil. [email protected].   RESUMO: Incertezas são encontradas em trabalhos com receptores do Sistemas Global de Navegação por Satélite GNSS. Diante disso, objetivou-se com este estudo investigar a influência de obstáculos físicos nos erros de acurácia e precisão em levantamentos com receptores GNSS e suas aplicações agrícolas. Foram implantados quatros pontos de controle rastreados no modo estático (base) e oito pontos de estudos rastreados no modo cinemático em tempo real (RTK) e Estático Rápido (ER), utilizando um par de receptores GNSS e um par de receptores GNSS-RTK. Os níveis de acurácia e precisão foram avaliados em oito pontos obtidos por rastreios do tipo ER e RTK. Combinados com quatro bases fixas, alocados de três formas: mínima, média e alta interferência física. Pontos provenientes do levantamento RTK, apresentaram diferenças na ordem de milímetros a centímetros, quando comparados às coordenadas obtidas do levantamento (ER). Para os níveis de obstrução, a mínima interferência apresentou erro dentro dos limites estipulados pelo equipamento, a máxima interferência apresentou menor acurácia. O efeito do multipercurso do sinal foi o fator mais determinante para a redução da acurácia das coordenadas dos pontos. Recomenda-se a aplicação do levantamento RTK para trabalhos onde a precisão das coordenadas seja mais relevante que a acurácia.   Palavras-chaves: Geodésia, levantamento planialtimétrico, acurácia, precisão.   GLOBAL SATELLITE NAVIGATION SYSTEM RECEIVERS SUBMITTED TO PHYSICAL INTERFERENCES   ABSTRACT: Uncertainties are found in works with Global Navigation Satellite System receivers (GNSS). Therefore, this study aimed to investigate influence physical obstacles on accuracy and precision errors in surveys with GNSS receivers and their agricultural applications. Four control points tracked in static (base) mode and eight study points tracked in a kinematic mode in real-time (RTK) and Fast Static (ER) were implemented, using a pair of GNSS receivers and pair of GNSS-RTK receivers. Accuracy levels and precision were evaluated at eight points obtained by ER and RTK, combined with four fixed bases, allocated in three ways: minimal, medium and high physical interference. RTK survey points showed differences order millimeters to centimeters when compared to the survey (ER) coordinates. The obstruction levels, interference minimum, had an error within limits stipulated by equipment, interference maximum showed low accuracy. RTK survey is recommended for jobs where the coordinate precision is more relevant than accuracy.   Keywords: Geodesy, planialtimetric survey, accuracy, precision.

scholarly journals Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment

2020 ◽  
Vol 12 (10) ◽  
pp. 1564 ◽  
Author(s):  
Kai-Wei Chiang ◽  
Guang-Je Tsai ◽  
Yu-Hua Li ◽  
You Li ◽  
Naser El-Sheimy
Keyword(s):  
Urban Areas ◽  
Satellite System ◽  
Multisensor Fusion ◽  
Automated Driving ◽  
Integrity Assessment ◽  
Localization And Mapping ◽  
Self Driving Cars ◽  
Global Navigation Satellite ◽  
3D Lidar ◽  
Ins Aiding

Automated driving has made considerable progress recently. The multisensor fusion system is a game changer in making self-driving cars possible. In the near future, multisensor fusion will be necessary to meet the high accuracy needs of automated driving systems. This paper proposes a multisensor fusion design, including an inertial navigation system (INS), a global navigation satellite system (GNSS), and light detection and ranging (LiDAR), to implement 3D simultaneous localization and mapping (INS/GNSS/3D LiDAR-SLAM). The proposed fusion structure enhances the conventional INS/GNSS/odometer by compensating for individual drawbacks such as INS-drift and error-contaminated GNSS. First, a highly integrated INS-aiding LiDAR-SLAM is presented to improve the performance and increase the robustness to adjust to varied environments using the reliable initial values from the INS. Second, the proposed fault detection exclusion (FDE) contributes SLAM to eliminate the failure solutions such as local solution or the divergence of algorithm. Third, the SLAM position velocity acceleration (PVA) model is used to deal with the high dynamic movement. Finally, an integrity assessment benefits the central fusion filter to avoid failure measurements into the update process based on the information from INS-aiding SLAM, which increases the reliability and accuracy. Consequently, our proposed multisensor design can deal with various situations such as long-term GNSS outage, deep urban areas, and highways. The results show that the proposed method can achieve an accuracy of under 1 meter in challenging scenarios, which has the potential to contribute the autonomous system.

scholarly journals A Contribution to the Geological Characterization of a Potential Caprock-Reservoir System in the Sulcis Coal Basin (South-Western Sardinia)

Energies ◽  
2019 ◽  
Vol 12 (23) ◽  
pp. 4524 ◽  
Author(s):  
Fais ◽  
Casula ◽  
Cuccuru ◽  
Ligas ◽  
Bianchi ◽  
...  
Keyword(s):  
Middle Eocene ◽  
Co2 Storage ◽  
Longitudinal Velocity ◽  
Satellite System ◽  
Carbonate Reservoir ◽  
Mining District ◽  
Coal Basin ◽  
Reservoir System ◽  
Global Navigation Satellite

The results provided by this study contribute to the geological characterization of a potential caprock-reservoir system for CO2 storage in the experimental area of the mining district of the Sulcis Coal Basin (south-western Sardinia, Italy). The work is aimed to improve the knowledge of the petrographic and petrophysical characteristics of the siliciclastic and carbonate geological formations that make up the potential caprock-reservoir system. Core samples from a number of wells drilled in the study area for mining purposes were analyzed especially for texture and physical properties (longitudinal velocity, density, porosity, and permeability). The preliminary integrated petrographic and petrophysical characterizations indicate that the Upper Paleocene to Early Eocene potential carbonate reservoir is heterogeneous but presents suitable reservoir zones for CO2. A preliminary analysis of the potential caprock siliciclastic lithologies of the Middle Eocene to Lower Oligocene suggests that they appear suitable for CO2 confinement. Finally, to account for the stability of the investigated area, an accurate geodynamical study of south-western Sardinia was carried out using global navigation satellite system and advanced differential interferometric synthetic aperture radar methodologies in order to estimate vertical and horizontal crustal displacements. The study area results stable, since it is characterized by surface crustal horizontal and vertical velocities smaller than 1 mm/year and few mm/year, respectively.

scholarly journals Spatial Characterization of GNSS Multipath Channels

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Hatef Keshvadi ◽  
Ali Broumandan ◽  
Gérard Lachapelle
Keyword(s):  
Fading Channels ◽  
Multipath Fading ◽  
Satellite System ◽  
Handheld Devices ◽  
Angle Of Arrival ◽  
Multipath Fading Channel ◽  
Coherent Integration ◽  
Global Navigation Satellite ◽  
Beamforming Technique

There is a growing interest in detecting and processing Global Navigation Satellite System (GNSS) signals in indoors and urban canyons by handheld devices. To overcome the signal attenuation problem in such adverse fading environments, long coherent integration is normally used. Moving the antenna arbitrarily while collecting signals is generally avoided as it temporally decorrelates the signals and limits the coherent integration gain. This decorrelation is a function of the antenna displacement and geometry of reflectors and angle of arrival of the received signal. Hence, to have an optimum receiver processing strategy it is crucial to characterize the multipath fading channel parameters. Herein, Angle of Arrival (AoA) and Angle Spread (AS) along with signal spatial correlation coefficient and fading intensity in GNSS multipath indoor channels are defined and quantified theoretically and practically. A synthetic uniform circular array utilizing a right-hand circular polarized (RHCP) antenna has been used to measure the spatial characteristics of indoor GNSS fading channels. Furthermore, rotating effect of a circular polarized antenna on the synthetic array processing and AoA estimation has been characterized. The performance of the beamforming technique via array gain is also assessed to explore the advantages and limitations of beamforming in fading conditions.

scholarly journals SQUEEZEPOSENET: IMAGE BASED POSE REGRESSION WITH SMALL CONVOLUTIONAL NEURAL NETWORKS FOR REAL TIME UAS NAVIGATION

2017 ◽  
Vol IV-2/W3 ◽  
pp. 49-57 ◽  
Author(s):  
M. S. Müller ◽  
S. Urban ◽  
B. Jutzi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Low Cost ◽  
Satellite System ◽  
Trajectory Estimation ◽  
Localization And Mapping ◽  
Wide Range ◽  
Novel Method ◽  
Computationally Expensive ◽  
Global Navigation Satellite ◽  
Local Image

The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

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