Related papers: GPS-Denied Relative Motion Estimation For Fixed-Wi…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Unmanned Aerial Vehicles (UAV) can pose a major risk for aviation safety, due to both negligent and malicious use. For this reason, the automated detection and tracking of UAV is a fundamental task in aerial security systems. Common…
Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A…
This paper investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target under half-duplex operation. The area of interest,…
VIO has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when observable landmarks in the scene lie far away from…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…