Related papers: GPS-Denied Relative Motion Estimation For Fixed-Wi…

In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…

In this paper, a robust vehicle local position estimation with the help of single camera sensor and GPS is presented. A modified Inverse Perspective Mapping, illuminant Invariant techniques and object detection based approach is used to…

Given the prospects of the low-altitude economy (LAE) and the popularity of unmanned aerial vehicles (UAVs), there are increasing demands on monitoring flying objects at low altitude in wide urban areas. In this work, the widely deployed…

Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…

One of the core activities of an active observer involves moving to secure a "better" view of the scene, where the definition of "better" is task-dependent. This paper focuses on the task of human pose estimation from videos capturing a…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

With substantial recent developments in aviation technologies, Unmanned Aerial Vehicles (UAVs) are becoming increasingly integrated in commercial and military operations internationally. Research into the applications of aircraft data is…

Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…

Research on developing deep learning techniques for autonomous spacecraft relative navigation challenges is continuously growing in recent years. Adopting those techniques offers enhanced performance. However, such approaches also introduce…

Fixed-wing unmanned aerial vehicles (UAVs) are of great potential to serve as aerial access points (APs) owing to better aerodynamic performance and longer flight endurance. However, the inherent hovering feature of fixed-wing UAVs may…

In this work, we have analyzed the problem of relative pose initialization between two satellites: a chaser and a non-cooperating target. The analysis has been targeted to two close-range methods based on a monocular camera system: the…

Unmanned aerial vehicles (UAVs) are envisioned to provide diverse services from the air. The service quality may rely on the wireless performance which is affected by the UAV's position. In this paper, we focus on the UAV placement problem…

Unmanned Aerial Vehicle (UAV) visual geo-localization aims to match images of the same geographic target captured from different views, i.e., the UAV view and the satellite view. It is very challenging due to the large appearance…

Civil applications for unmanned aerial vehicles (UAVs) have increased rapidly over the last few years. In the realm of civil applications, many aircraft carry cameras that are physically fixed to the airframe. While this yields a simple and…

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…

Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…

Search and rescue missions and surveillance require finding targets in a large area. These tasks often use unmanned aerial vehicles (UAVs) with cameras to detect and move towards a target. However, common UAV approaches make two simplifying…

This paper introduces a novel approach to video object detection detection and tracking on Unmanned Aerial Vehicles (UAVs). By incorporating metadata, the proposed approach creates a memory map of object locations in actual world…

In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…