Related papers: Dynamic Markers: UAV landing proof of concept
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…
Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…
For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly…
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR) applications, they often disrupt the visual aesthetics of…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
By harnessing fiducial markers as visual landmarks in the environment, Unmanned Aerial Vehicles (UAVs) can rapidly build precise maps and navigate spaces safely and efficiently, unlocking their potential for fluent collaboration and…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging…
Fiducial markers have been broadly used to identify objects or embed messages that can be detected by a camera. Primarily, existing detection methods assume that markers are printed on ideally planar surfaces. Markers often fail to be…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…