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In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex…
As drone use has become more widespread, there is a critical need to ensure safety and security. A key element of this is robust and accurate drone detection and localization. While cameras and other optical sensors like LiDAR are commonly…
Detection of moving objects such as vehicles in videos acquired from an airborne camera is very useful for video analytics applications. Using fast low power algorithms for onboard moving object detection would also provide region of…
Deep neural networks (DNNs) have shown exceptional performance when trained on well-illuminated images captured by Electro-Optical (EO) cameras, which provide rich texture details. However, in critical applications like aerial perception,…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
Detection of pedestrians on embedded devices, such as those on-board of robots and drones, has many applications including road intersection monitoring, security, crowd monitoring and surveillance, to name a few. However, the problem can be…
Object detection using aerial drone imagery has received a great deal of attention in recent years. While visible light images are adequate for detecting objects in most scenarios, thermal cameras can extend the capabilities of object…
With the increasing utilization of Internet of Things (IoT) enabled drones in diverse applications like photography, delivery, and surveillance, concerns regarding privacy and security have become more prominent. Drones have the ability to…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Sequential monitoring of images has broad applications across various domains, including climate science, ecosystem monitoring, medical diagnostics, and so forth. In many such applications, images acquired over time exhibit gradual changes,…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, lower…
The ability to predict motion in real time is fundamental to many maneuvering activities in animals, particularly those critical for survival, such as attack and escape responses. Given its significance, it is no surprise that motion…
This paper proposes a novel approach to create an automated visual surveillance system which is very efficient in detecting and tracking moving objects in a video captured by moving camera without any apriori information about the captured…
Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and…