Browsing by Author "Arévalo Ramírez, Tito"

Now showing 1 - 5 of 5
  • Thumbnail Image
    Item
    Cluster Analysis for Agriculture
    (Springer, 2023) Arévalo Ramírez, Tito; Auat Cheein, Fernando
  • Thumbnail Image
    Item
    Exploring the Potential of Reconstructed Multispectral Images for Urban Tree Segmentation in Street View Images
    (2024) Arévalo Ramírez, Tito; Alfaro, Analí; Saavedra, José M.; Recabarren, Matías; Ponce-Donoso, Mauricio; Delpiano, José
    Deep learning has gained popularity in recent years for reconstructing hyperspectral and multispectral images, offering cost-effective solutions and promising results. Research on hyperspectral image reconstruction feeds deep learning models with images at specific wavelengths and outputs images in other spectral bands. Although encouraging results of previous works, it should be determined to what extent the reconstructed information can lead to an advantage over the captured images. In this context, the present work inspects whether or not reconstructed spectral images add relevant information to segmentation networks for improving urban tree identification. Specifically, we generate red-edge (ReD) and near-infrared (NIR) images from RGB images using a conditional Generative Adversarial Network (cGAN). The training and validation are carried out with 5770 multispectral images obtained after a custom data augmentation process using an urban hyperspectral dataset. The testing outcomes reveal that ReD and NIR can be generated with an average structural similarity index measure of 0.93 and 0.88, respectively. Next, the cGAN generates ReD and NIR information of two RGB-based urban tree datasets (i.e., Jekyll, 3949 samples, and Arbocensus, 317 samples). Subsequently, DeepLabV3 and SegFormer segmentation networks are trained, validated, and tested using RGB, RGB+ReD, and RGB+NIR images from Jekyll and Arbocensus datasets. The experiments show that reconstructed multispectral images might not add information to segmentation networks that enhance their performance. Specifically, the p-values from a T-test show no significant difference between the performance of segmentation networks.
  • Thumbnail Image
    Item
    LSTM-Enhanced Deep Reinforcement Learning for Robust Trajectory Tracking Control of Skid-Steer Mobile Robots Under Terra-Mechanical Constraints
    (2025) Alcayaga, José Manuel; Menéndez, Oswaldo Anibal; Torres Torriti, Miguel Attilio; Vásconez, Juan Pablo; Arévalo Ramírez, Tito; Prado Romo, Álvaro Javier
    Autonomous navigation in mining environments is challenged by complex wheel–terrain interaction, traction losses caused by slip dynamics, and sensor limitations. This paper investigates the effectiveness of Deep Reinforcement Learning (DRL) techniques for the trajectory tracking control of skid-steer mobile robots operating under terra-mechanical constraints. Four state-of-the-art DRL algorithms, i.e., Proximal Policy Optimization (PPO), Deep Deterministic Policy Gradient (DDPG), Twin Delayed DDPG (TD3), and Soft Actor–Critic (SAC), are selected to evaluate their ability to generate stable and adaptive control policies under varying environmental conditions. To address the inherent partial observability in real-world navigation, this study presents an original approach that integrates Long Short-Term Memory (LSTM) networks into DRL-based controllers. This allows control agents to retain and leverage temporal dependencies to infer unobservable system states. The developed agents were trained and tested in simulations and then assessed in field experiments under uneven terrain and dynamic model parameter changes that lead to traction losses in mining environments, targeting various trajectory tracking tasks, including lemniscate and squared-type reference trajectories. This contribution strengthens the robustness and adaptability of DRL agents by enabling better generalization of learned policies compared with their baseline counterparts, while also significantly improving trajectory tracking performance. In particular, LSTM-based controllers achieved reductions in tracking errors of 10%, 74%, 21%, and 37% for DDPG-LSTM, PPO-LSTM, TD3-LSTM, and SAC-LSTM, respectively, compared with their non-recurrent counterparts. Furthermore, DDPG-LSTM and TD3-LSTM reduced their control effort through the total variation in control input by 15% and 20% compared with their respective baseline controllers, respectively. Findings from this work provide valuable insights into the role of memory-augmented reinforcement learning for robust motion control in unstructured and high-uncertainty environments.
  • Thumbnail Image
    Item
    Mapping of Potential Fuel Regions Using Uncrewed Aerial Vehicles for Wildfire Prevention
    (Multidisciplinary Digital Publishing Institute (MDPI), 2023) Andrada, María Eduarda; Russell, David; Arévalo Ramírez, Tito; Kuang, Winnie; Kantor, George; Yandun, Francisco
    This paper presents a comprehensive forest mapping system using a customized drone payload equipped with Light Detection and Ranging (LiDAR), cameras, a Global Navigation Satellite System (GNSS), and Inertial Measurement Unit (IMU) sensors. The goal is to develop an efficient solution for collecting accurate forest data in dynamic environments and to highlight potential wildfire regions of interest to support precise forest management and conservation on the ground. Our paper provides a detailed description of the hardware and software components of the system, covering sensor synchronization, data acquisition, and processing. The overall system implements simultaneous localization and mapping (SLAM) techniques, particularly Fast LiDAR Inertial Odometry with Scan Context (FASTLIO-SC), and LiDAR Inertial Odometry Smoothing and Mapping (LIOSAM), for accurate odometry estimation and map generation. We also integrate a fuel mapping representation based on one of the models, used by the United States Secretary of Agriculture (USDA) to classify fire behavior, into the system using semantic segmentation, LiDAR camera registration, and odometry as inputs. Real-time representation of fuel properties is achieved through a lightweight map data structure at 4 Hz. The research results demonstrate the effectiveness and reliability of the proposed system and show that it can provide accurate forest data collection, accurate pose estimation, and comprehensive fuel mapping with precision values for the main segmented classes above 85%. Qualitative evaluations suggest the system’s capabilities and highlight its potential to improve forest management and conservation efforts. In summary, this study presents a versatile forest mapping system that provides accurate forest data for effective management.
  • Thumbnail Image
    Item
    Point cloud-based estimation of effective payload volume for earthmoving loaders
    (2020) Guevara, Javier; Arévalo Ramírez, Tito; Yandun, Francisco; Torres Torriti, Miguel Attilio; Cheein, Fernando Auat