Vision-Based Autonomous Navigation for Agri-Robots
Published:
PhD research on crop-row detection, in-field guidance, and end-of-row behavior using low-cost vision sensors.
Posts by Collection
portfolio
Outdoor Robotic Perception for Long-Term Autonomy
Published:
Postdoctoral work on robust perception, feature matching, and multimodal mapping for outdoor robotic systems.
publications
Towards Infield Navigation: leveraging simulated data for crop row detection
Published in IEEE International Conference on Automation Science and Engineering (CASE), 2022
Using simulated data to reduce labelled real-world data requirements for robust crop-row detection.
Recommended citation: de Silva, R., Cielniak, G., & Gao, J. (2022). "Towards Infield Navigation: leveraging simulated data for crop row detection." IEEE International Conference on Automation Science and Engineering (CASE).
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Leaving the Lines Behind: Vision-Based Crop Row Exit for Agricultural Robot Navigation
Published in TIG-IV Workshop at ICRA 2023, 2023
A vision-based method for exiting crop rows and transitioning into the headland area.
Recommended citation: de Silva, R., Cielniak, G., & Gao, J. (2023). "Leaving the Lines Behind: Vision-Based Crop Row Exit for Agricultural Robot Navigation." TIG-IV Workshop at ICRA 2023. Best Paper Award.
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Deep learning-based crop row detection for infield navigation of agri-robots
Published in Journal of Field Robotics, 2023
A deep learning approach to crop-row perception for robust visual navigation in arable fields.
Recommended citation: de Silva, R., Cielniak, G., Wang, G., & Gao, J. (2023). "Deep learning-based crop row detection for infield navigation of agri-robots." Journal of Field Robotics, 41(7), 2299-2321.
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Vision based crop row navigation under varying field conditions in arable fields
Published in Computers and Electronics in Agriculture, 2024
Vision-based navigation in arable fields under challenging conditions such as shadows, weeds, discontinuities, and growth variation.
Recommended citation: de Silva, R., Cielniak, G., & Gao, J. (2024). "Vision based crop row navigation under varying field conditions in arable fields." Computers and Electronics in Agriculture, 217, 108581.
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Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments
Published in IEEE Robotics and Automation Letters, 2025
Semantic enrichment of keypoint descriptors for more reliable matching and localization in outdoor agricultural environments.
Recommended citation: de Silva, R., Swindell, J., Cox, J., Popovic, M., Cadena, C., Stachniss, C., & Polvara, R. (2025). "Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments." IEEE Robotics and Automation Letters, 10(12), 13383-13390.
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talks
teaching
Robotics and Intelligent Systems
Undergraduate course, Sri Lanka Institute of Information Technology, 2018
Taught undergraduate students in robotics and intelligent systems, with emphasis on practical robotic thinking, sensing, control, and system integration.
Embedded Systems, IoT, and Electronics
Undergraduate teaching portfolio, Sri Lanka Institute of Information Technology, 2018
Delivered teaching across Embedded Systems Engineering, Internet of Things, Digital Electronics, and Analogue Electronics, combining theory with engineering practice and student project supervision.
Advanced Machine Learning
Postgraduate module contribution, University of Lincoln, MSc Robotics and Autonomous Systems, 2022
Contributed teaching to the Advanced Machine Learning module, supporting postgraduate robotics students with applied machine learning concepts in the context of autonomous systems.