Related papers: Optical Flow Sensing and the Inverse Perception Pr…
Motion detection is a fundamental but challenging task for autonomous driving. In particular scenes like highway, remote objects have to be paid extra attention for better controlling decision. Aiming at distant vehicles, we train a neural…
This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motion Observer with…
Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…
The paper describes a program which computes the best possible Bayesian model of 3D space from vision (in bees) or echo location (in bats), at Marrs [1982] Level 2. The model exploits the strong Bayesian prior probability that most other…
Sequential monitoring of images has broad applications across various domains, including climate science, ecosystem monitoring, medical diagnostics, and so forth. In many such applications, images acquired over time exhibit gradual changes,…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…
Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In…
The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…
Over the past few decades, the Hawkes process has become a popular framework for modeling temporal events thanks to its flexibility to capture different dependency structures. The objective of this work is to model call sequences emitted by…
Flight is a complicated task at small scales in part due to the ubiquitous unsteady air which contains it. Flying organisms deal with these difficulties using active and passive control mechanisms to steer their body motion. Body attitudes…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
This paper proposes mean field models to maintain an accurate line-of-sight and tracking between transceivers mounted in mobile unmanned aerial vehicles (UAVs) platforms in the presence of underlying mechanical vibration effects. We…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as…
In many real-world settings--e.g., single-cell RNA sequencing, mobility sensing, and environmental monitoring--data are observed only as temporally aggregated snapshots collected over finite time windows, often with noisy or uncertain…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aerial flip turns when they perch. Inspired by this unique…
Decoding the direction of translating objects in front of cluttered moving backgrounds, accurately and efficiently, is still a challenging problem. In nature, lightweight and low-powered flying insects apply motion vision to detect a moving…
Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…