Related papers: Active Image-based Modeling with a Toy Drone
Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…
Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…
3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…
While recent advances in neural radiance field enable realistic digitization for large-scale scenes, the image-capturing process is still time-consuming and labor-intensive. Previous works attempt to automate this process using the…
In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…
Multi-camera full-body pose capture of humans and animals in outdoor environments is a highly challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. The key…
With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…
Autonomous mobile robots (AMRs) equipped with high-quality cameras have revolutionized the field of inspections by providing efficient and cost-effective means of conducting surveys. The use of autonomous inspection is becoming more…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…
Multi-view photometric stereo (MVPS) is a preferred method for detailed and precise 3D acquisition of an object from images. Although popular methods for MVPS can provide outstanding results, they are often complex to execute and limited to…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the…
Multi-View Stereo (MVS) is a core task in 3D computer vision. With the surge of novel deep learning methods, learned MVS has surpassed the accuracy of classical approaches, but still relies on building a memory intensive dense cost volume.…
In this work we showcase the design and assessment of the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms for autonomous navigation. The system leverages state-of-the-art receding…