David Valiente

Judith Vilella-Cantos, Mauro Martini, Marcello Chiaberge et al.

Localization in agricultural environments is challenging due to their unstructured nature and lack of distinctive landmarks. Although agricultural settings have been studied in the context of object classification and segmentation, the place recognition task for mobile robots is not trivial in the current state of the art. In this study, we propose MinkUNeXt-VINE, a lightweight, deep-learning-based method that surpasses state-of-the-art methods in vineyard environments thanks to its pre-processing and Matryoshka Representation Learning multi-loss approach. Our method prioritizes enhanced performance with low-cost, sparse LiDAR inputs and lower-dimensionality outputs to ensure high efficiency in real-time scenarios. Additionally, we present a comprehensive ablation study of the results on various evaluation cases and two extensive long-term vineyard datasets employing different LiDAR sensors. The results demonstrate the efficiency of the trade-off output produced by this approach, as well as its robust performance on low-cost and low-resolution input data. The code is publicly available for reproduction.

Antonio Santo, Juan J. Cabrera, David Valiente et al.

This paper presents TE-NeXt, a novel and efficient architecture for Traversability Estimation (TE) from sparse LiDAR point clouds based on a residual convolution block. TE-NeXt block fuses notions of current trends such as attention mechanisms and 3D sparse convolutions. TE-NeXt aims to demonstrate high capacity for generalisation in a variety of urban and natural environments, using well-known and accessible datasets such as SemanticKITTI, Rellis-3D and SemanticUSL. Thus, the designed architecture ouperforms state-of-the-art methods in the problem of semantic segmentation, demonstrating better results in unstructured environments and maintaining high reliability and robustness in urbans environments, which leads to better abstraction. Implementation is available in a open repository to the scientific community with the aim of ensuring the reproducibility of results.

Judith Vilella-Cantos, Mónica Ballesta, David Valiente et al.

An optimal solution to the localization problem is essential for developing autonomous robotic systems. Apart from autonomous vehicles, precision agriculture is one of the elds that can bene t most from these systems. Although LiDAR place recognition is a widely used technique in recent years to achieve accurate localization, it is mostly used in urban settings. However, the lack of distinctive features and the unstructured nature of agricultural environments make place recognition challenging. This work presents a comprehensive review of state-of-the-art the latest deep learning applications for agricultural environments and LPR techniques. We focus on the challenges that arise in these environments. We analyze the existing approaches, datasets, and metrics used to evaluate LPR system performance and discuss the limitations and future directions of research in this eld. This is the rst survey that focuses on LiDAR based localization in agricultural settings, with the aim of providing a thorough understanding and fostering further research in this specialized domain.

Judith Vilella-Cantos, Juan José Cabrera, Luis Payá et al.

In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate regardless of any changes in the scene, such as seasonal changes and different weather conditions, and it must be generalizable to other environments. This paper presents our method, MinkUNeXt-SI, which, starting from a LiDAR point cloud, preprocesses the input data to obtain its spherical coordinates and intensity values normalized within a range of 0 to 1 for each point, and it produces a robust place recognition descriptor. To that end, a deep learning approach that combines Minkowski convolutions and a U-net architecture with skip connections is used. The results of MinkUNeXt-SI demonstrate that this method reaches and surpasses state-of-the-art performance while it also generalizes satisfactorily to other datasets. Additionally, we showcase the capture of a custom dataset and its use in evaluating our solution, which also achieves outstanding results. Both the code of our solution and the runs of our dataset are publicly available for reproducibility purposes.

David Valiente, Fernando Rodríguez-Mas, Juan V. Alegre-Requena et al.

This work presents a set of optimal machine learning (ML) models to represent the temporal degradation suffered by the power conversion efficiency (PCE) of polymeric organic solar cells (OSCs) with a multilayer structure ITO/PEDOT:PSS/P3HT:PCBM/Al. To that aim, we generated a database with 996 entries, which includes up to 7 variables regarding both the manufacturing process and environmental conditions for more than 180 days. Then, we relied on a software framework that brings together a conglomeration of automated ML protocols that execute sequentially against our database by simply command-line interface. This easily permits hyper-optimizing and randomizing seeds of the ML models through exhaustive benchmarking so that optimal models are obtained. The accuracy achieved reaches values of the coefficient determination (R2) widely exceeding 0.90, whereas the root mean squared error (RMSE), sum of squared error (SSE), and mean absolute error (MAE)>1% of the target value, the PCE. Additionally, we contribute with validated models able to screen the behavior of OSCs never seen in the database. In that case, R2~0.96-0.97 and RMSE~1%, thus confirming the reliability of the proposal to predict. For comparative purposes, classical Bayesian regression fitting based on non-linear mean squares (LMS) are also presented, which only perform sufficiently for univariate cases of single OSCs. Hence they fail to outperform the breadth of the capabilities shown by the ML models. Finally, thanks to the standardized results offered by the ML framework, we study the dependencies between the variables of the dataset and their implications for the optimal performance and stability of the OSCs. Reproducibility is ensured by a standardized report altogether with the dataset, which are publicly available at Github.