Related papers: Real-Time Optical flow-based Video Stabilization f…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Despite the growing number of unmanned aerial vehicles (UAVs) and aerial videos, there is a paucity of studies focusing on the aesthetics of aerial videos that can provide valuable information for improving the aesthetic quality of aerial…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
We present a deep neural network (DNN) that uses both sensor data (gyroscope) and image content (optical flow) to stabilize videos through unsupervised learning. The network fuses optical flow with real/virtual camera pose histories into a…
In this paper we first contribute a large scale online study (N=400) to better understand aesthetic perception of aerial video. The results indicate that it is paramount to optimize smoothness of trajectories across all keyframes. However,…
Estimating optical flows is one of the most interesting problems in computer vision, which estimates the essential information about pixel-wise displacements between two consecutive images. This work introduces an efficient dual…
A novel approach for the fast onboard detection of isolated markers for visual relative localisation of multiple teammates in agile UAV swarms is introduced in this paper. As the detection forms a key component of real-time localisation…
The optical flow of natural scenes is a combination of the motion of the observer and the independent motion of objects. Existing algorithms typically focus on either recovering motion and structure under the assumption of a purely static…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Unmanned Aerial Vehicles (UAVs) are gaining popularity in civil and military applications. However, uncontrolled access to restricted areas threatens privacy and security. Thus, prevention and detection of UAVs are pivotal to guarantee…
In this paper, we tackle the problem of video alignment, the process of matching the frames of a pair of videos containing similar actions. The main challenge in video alignment is that accurate correspondence should be established despite…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Video super-resolution is currently one of the most active research topics in computer vision as it plays an important role in many visual applications. Generally, video super-resolution contains a significant component, i.e., motion…
The paper presents a two-stage stochastic program to model a routing problem involving an Unmanned Aerial Vehicle (UAV) in the context of patrolling missions. In particular, given a set of targets and a set of supplemental targets…