{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/place-recognition-in-forests-with-urquhart","title":"Place Recognition in Forests with Urquhart Tessellations","arxiv_id":"2010.03026","date":"2020-09-23","proceeding":null,"authors":["Guilherme V. Nardari","Avraham Cohen","Steven W. Chen","Xu Liu","Vaibhav Arcot","Roseli A. F. Romero","Vijay Kumar"],"abstract":"In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark correspondences, even with partial overlap and noise. We run loop closure detection experiments in simulation and real-world data map-merging from different flights of an Unmanned Aerial Vehicle (UAV) in a pine tree forest and show that our method outperforms state-of-the-art approaches in accuracy and robustness.","url_abs":"https://arxiv.org/abs/2010.03026v2","url_pdf":"https://arxiv.org/pdf/2010.03026v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"place-recognition-in-forests-with-urquhart","repo_url":"https://github.com/gnardari/urquhart","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"loop-closure-detection","task_name":"Loop Closure Detection"},{"task_slug":null,"task_name":"Position"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2010.03026","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}