Related papers: Pushbroom Stereo for High-Speed Navigation in Clut…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
Obtaining highly accurate depth from stereo images in real time has many applications across computer vision and robotics, but in some contexts, upper bounds on power consumption constrain the feasible hardware to embedded platforms such as…
Safe autonomous driving requires reliable 3D object detection-determining the 6 DoF pose and dimensions of objects of interest. Using stereo cameras to solve this task is a cost-effective alternative to the widely used LiDAR sensor. The…
This paper presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments. Our method uses GPU accelerated SIFT…
Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…
Omnidirectional depth sensing has its advantage over the conventional stereo systems since it enables us to recognize the objects of interest in all directions without any blind regions. In this paper, we propose a novel wide-baseline…
Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…
Aerial object detection presents challenges from small object sizes, high density clustering, and image quality degradation from distance and motion blur. These factors create an information bottleneck where limited pixel representation…
We describe a new pushbroom hyperspectral imaging device that has no macro moving part. The main components of the proposed hyperspectral imager are a digital micromirror device (DMD), a CMOS image sensor with no filter as the spectral…
Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…
One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the…
Detecting small unmanned aerial vehicles (UAVs) from a ground-to-air (G2A) perspective presents significant challenges, including extremely low pixel occupancy, cluttered aerial backgrounds, and strict real-time constraints. Existing…
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power…
This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…