4D Scene Analysis for Autonomous Operation of Mobile Robots on Farms

本研究解决了农场移动机器人自主操作的4D场景分析中的挑战。农业机器人的部署将提高可持续性，并支持针对单个植物需求的精准农业操作。这项研究将使机器人能够保持不确定和高度可变的农场环境的精确3D表示及其语义，以便安全地自主穿越农场，以及重建作物的结构表示。此外，随着时间的推移，记录这些表征将允许持续的作物监测，并提供对植物与环境因素之间的时空动态和相互作用的洞察。

This research addresses challenges in 4D scene analysis for autonomous operation of mobile robots on farms. The deployment of agricultural robots will increase sustainability and support precision farming operations tuned to needs of individual plants. This research will enable robots to maintain precise 3D representations of uncertain and highly variable farm environments together with their semantics in order to safely traverse the farm autonomously, as well as to reconstruct structural representations of the crop. Additionally, registering these representations over time would allow for sustained crop monitoring and provide insight into spatio temporal dynamics and interactions between the plants and environmental factors.