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 2025

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

Scalable Autonomous Drone Flight in the Forest with Visual-Inertial SLAM and Dense Submaps Built without LiDAR

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

PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency

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

Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation

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

Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras

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

Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots

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

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision

Publications from 2023

Fast Traversability Estimation for Wild Visual Navigation

Pulications from 2022

Harveri : A Small (Semi-)Autonomous Precision Tree Harvester