Related papers: Effective Target Aware Visual Navigation for UAVs
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This paper introduces a novel approach to video object detection detection and tracking on Unmanned Aerial Vehicles (UAVs). By incorporating metadata, the proposed approach creates a memory map of object locations in actual world…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…
We present a method for trajectory planning for autonomous driving, learning image-based context embeddings that align with motion prediction frameworks and planning-based intention input. Within our method, a ViT encoder takes raw images…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…
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…
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…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…
We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…