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Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…
Dependable visual drone detection is crucial for the secure integration of drones into the airspace. However, drone detection accuracy is significantly affected by domain shifts due to environmental changes, varied points of view, and…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
Sensor networks with devices capable of moving could enable applications ranging from precision irrigation to environmental sensing. Using mechanical drones to move sensors, however, severely limits operation time since flight time is…
The emergence of drones has added new dimension to privacy and security issues. There are little or no strict regulations on the people that can purchase or own a drone. For this reason, people can take advantage of these aircraft to…
This work introduces VISY-REVE: a novel pipeline to validate image processing algorithms for Vision-Based Navigation. Traditional validation methods such as synthetic rendering or robotic testbed acquisition suffer from difficult setup and…
There is a rapid growth of applications of Unmanned Aerial Vehicles (UAVs) in traffic management, such as traffic surveillance, monitoring, and incident detection. However, the existing literature lacks solutions to real-time incident…
Recent multi-camera 3D object detectors usually leverage temporal information to construct multi-view stereo that alleviates the ill-posed depth estimation. However, they typically assume all the objects are static and directly aggregate…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
Separation provision and collision avoidance to avoid other air traffic are fundamental components of the layered conflict management system to ensure safe and efficient operations. Pilots have visual-based separation responsibilities to…
Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…
Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…
Many modern robotics systems employ LiDAR as their main sensing modality due to its geometrical richness. Rolling shutter LiDARs are particularly common, in which an array of lasers scans the scene from a rotating base. Points are emitted…
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, the lower…
Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…