Automated Topological Mapping for Agricultural Robots
Title: Automated Topological Mapping for Agricultural Robots
Authors: Karoline Heiwolt (Lincoln Centre for Autonomous Systems, University of Lincoln); Willow Mandil (Lincoln Centre for Autonomous Systems, University of Lincoln); Grzegorz Cielniak (Lincoln Centre for Autonomous Systems, University of Lincoln); Marc Hanheide (Lincoln Centre for Autonomous Systems, University of Lincoln);
Year: 2020
Citation: Heiwolt, K., Mandil, W., Cielniak, G., Hanheide, M., (2020). Automated Topological Mapping for Agricultural Robots. UKRAS20 Conference: “Robots into the real world” Proceedings, 27-29. doi: 10.31256/Ze8Ex1V
Abstract:
Essential to agricultural robot deployment in farms are accurate topological maps, which are manually created in current systems. In this work we present a novel approach to automatically generate a topological map along crop rows from aerials images for the deployment of agricultural mobile robots. We evaluate our system in a digital twin of a farm environment using real-world textures and physical simulation, and also demonstrate its applicability to aerial images of a real farm.