Check out the most recent SCORPION articles published in the Journal of Field Robotics

“Topological map-based approach for localization and mapping memory optimization”

Aguiar, A.S.; Santos, F.N.; Santos, L.C.; Sousa, A.J.; Boaventura-Cunha, J. (2022)

Abstract: Robotics in agriculture faces several challenges, such as the unstructured characteristics of the environments, variability of luminosity conditions for perception systems, and vast field extensions. To implement autonomous navigation systems in these conditions, robots should be able to operate during large periods and travel long trajectories. For this reason, it is essential that simultaneous localization and mapping algorithms can perform in large-scale and long-term operating conditions. One of the main challenges for these methods is maintaining low memory resources while mapping extensive environments. This work tackles this issue, proposing a localization and mapping approach called VineSLAM that uses a topological mapping architecture to manage the memory resources required by the algorithm. This topological map is a graph-based structure where each node is agnostic to the type of data stored, enabling the creation of a multilayer mapping procedure. Also, a localization algorithm is implemented, which interacts with the topological map to perform access and search operations. Results show that this approach is aligned with the state-of-the-art regarding localization precision, being able to compute the robot pose in long and challenging trajectories in agriculture. In addition, it is proved that the topological approach innovates state-of-the-art memory management. The proposed algorithm requires less memory than the other benchmarked algorithms and can maintain a constant memory allocation during the entire operation. This consists of a significant innovation since this approach opens the possibility for the deployment of complex 3D SLAM algorithms in real-world applications without scale restrictions.

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SCORPION General Assembly

On the 15th of December 2022, partners of the SCORPION project joined together virtually for a productive General Assembly. Participants discussed the project’s current status, the progress that had been made thus far, and plans for the future. Everyone involved was highly motivated and eager to work together to ensure the project’s success.

 It is clear that the SCORPION project is well on its way to achieving its goals.

INNOVI Presents SCORPION at Smartech Connection’s Grape & Wine-Smart Technologies Exchange

On December 13th, 2022, in Catalonia, SCORPION project was presented by the partners from INNOVI at the Vallformosa winery in the context of the “Smartech Connection”.

This annual event, organized by the Smartech Cluster, focused on the digitalization of the wine industry and provided attendees with a unique opportunity to explore the challenges and potential of Grape & Wine Smart Technologies. Following the presentation, participants enjoyed a tour of the winery.

For more information about the event, click here.