Related papers: Monocular Imaging-based Autonomous Tracking for Lo…
We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
Human following on mobile robots has witnessed significant advances due to its potentials for real-world applications. Currently most human following systems are equipped with depth sensors to obtain distance information between human and…
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
This paper proposes an online multi-camera multi-object tracker that only requires monocular detector training, independent of the multi-camera configurations, allowing seamless extension/deletion of cameras without retraining effort. The…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
The availability of sensor-rich smart wearables and tiny, yet capable, unmanned vehicles such as nano quadcopters, opens up opportunities for a novel class of highly interactive, attention-shared human--machine teams. Reliable, lightweight,…
The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…
Visual multi-object tracking has the potential to accelerate many forms of quantitative analyses, especially in research communities investigating the motion, behavior, or social interactions within groups of animals. Despite its potential…
The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…
Recent developments in monocular multi-object tracking have been very successful in tracking visible objects and bridging short occlusion gaps, mainly relying on data-driven appearance models. While we have significantly advanced short-term…
Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…
As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…
This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…
Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for…
A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…