Publications
In DigiForest we are committed to producing novel, outstanding and rigorous research. To demonstrate our commitment our commitment, we seek to publish all work in high-quality, high-impact, peer-reviewed conferences. To easen the access to our research, we provide access links to the different published papers that have been funded by the DigiForest project.
Publications from 2026
DigiForest: Digital Analytics and Robotics for Sustainable Forestry
Tree-Loc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matching
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
Saplings-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring
TreeLoc++: Ambiguity-Robust 6-DoF Forest LiDAR Global Localization with Digital Forest Inventory
Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continous-Time Trajectories
SAHA: Supervised Autonomous HArvester for selective forest thinning
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
FindAnything: Open-vocabulary and object-centric mapping for robot exploration in any environment
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps
Publications from 2025
Spatio-Temporal Consistent Semantic Mapping for Robotics Fruit Growth Monitoring
3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors
Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Neural NMPC through Signed Distance Field Encoding for Collision Avoidance
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth, LiDAR and GNSS
DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics
Safe Quadrotor Navigation using Composite Control Barrier Functions
Building Forest Inventories with Autonomous Legged Robots—System, Lessons, and Challenges Ahead
Publications from 2024
Spatio-Temporal Consistent Mapping of Growing Plants for Agricultural Robots in the Wild
Effectively Detecting Loop Closures using Point Cloud Density Maps
Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment
Resilient legged local navigation: Learning to traverse with compromised perception end-to-end
Motion Primitives Planning For Center-Articulated Vehicles
Dynamic Throwing with Robotic Material Handling Machines
Learning Adaptive Controller for Hydraulic Machinery Automation
DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping
Neural control barrier functions for safe navigation
N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding
Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph
Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning
Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment
Virtual forests: a review on emerging questions in the use and application of 3D data in forestry
Fast Global Point Cloud Registration using Semantic NDT
Publications from 2023
Fast Traversability Estimation for Wild Visual Navigation
MEM: Multi-Modal Elevation Mapping for Robotics and Learning
Pulications from 2022
Harveri : A Small (Semi-)Autonomous Precision Tree Harvester