Related papers: Point-Cloud-Based Aerial Fragmentation Analysis fo…
Conventional manual surveys of rock mass fractures usually require large amounts of time and labor; yet, they provide a relatively small set of data that cannot be considered representative of the study region. Terrestrial laser scanners…
3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present systems, algorithms, and experiments to perform radiation…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
Real-time depth reconstruction from ultra-high-resolution UAV imagery is essential for time-critical geospatial tasks such as disaster response, yet remains challenging due to wide-baseline parallax, large image sizes, low-texture or…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
UAVs showed great efficiency on scanning bridge decks surface by taking a single shot or through stitching a couple of overlaid still images. If potential surface deficits are identified through aerial images, subsequent ground inspections…
In recent years new application areas have emerged in which one aims to capture the geometry of objects by means of three-dimensional point clouds. Often the obtained data consist of a dense sampling of the object's surface, containing many…
Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…
The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…
Aerial pixel-wise scene perception of the surrounding environment is an important task for UAVs (Unmanned Aerial Vehicles). Previous research works mainly adopt conventional pinhole cameras or fisheye cameras as the imaging device. However,…
Reliable 3D trajectory estimation of unmanned aerial vehicles (UAVs) is a fundamental requirement for anti-UAV systems, yet the acquisition of large-scale and accurately annotated trajectory data remains prohibitively expensive. In this…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
Unmanned Aerial Vehicles (UAVs) are widely used for aerial photography and remote sensing applications. One of the main challenges is to stitch together multiple images into a single high-resolution image that covers a large area.…
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,…
In recent years, unmanned aircraft systems (UASs) are frequently used in many different applications of photogrammetry such as building damage monitoring, archaeological mapping and vegetation monitoring. In this paper, a new…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…