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Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
Ground segmentation, as the basic task of unmanned intelligent perception, provides an important support for the target detection task. Unstructured road scenes represented by open-pit mines have irregular boundary lines and uneven road…
Emissions of particulate matter into the atmosphere are essential to characterize, in terms of properties such as particle size, morphology, and composition, to better understand impacts on public health and the climate. However, there is…
With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…
A 3D point cloud is an unstructured, sparse, and irregular dataset, typically collected by airborne LiDAR systems over a geological region. Laser pulses emitted from these systems reflect off objects both on and above the ground, resulting…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
This paper presents a non-contact approach for vibration-based structural damage detection using an autonomous and customized cost-effective unmanned aerial vehicle (UAV). Vibration signals are extracted from video recordings through…
Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…
3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
In this work, we present RadCloud, a novel real time framework for directly obtaining higher-resolution lidar-like 2D point clouds from low-resolution radar frames on resource-constrained platforms commonly used in unmanned aerial and…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
Unmanned aerial vehicle (UAV) operations are steadily expanding into many important applications. A key technology for better enabling their commercial use is an onboard sense and avoid (SAA) technology which can detect potential mid-air…
This paper proposes a thresholding approach for crack detection in an unmanned aerial vehicle (UAV) based infrastructure inspection system. The proposed algorithm performs recursively on the intensity histogram of UAV-taken images to…
Multirotor Unmanned Aerial Vehicles (UAV)s have recently become an important instrument for collecting mineral data, enabling more effective and accurate geological investigations. This paper explores the difficulties in mounting…
Current unmanned aerial vehicle (UAV) visual tracking algorithms are primarily limited with respect to: (i) the kind of size variation they can deal with, (ii) the implementation speed which hardly meets the real-time requirement. In this…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…