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Accurate and safety-quantifiable localization is of great significance for safety-critical autonomous systems, such as unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV). The visual odometry-based method can provide accurate…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimation have significantly improved…

Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which…

The combination of a small unmanned ground vehicle (UGV) and a large unmanned carrier vehicle allows more flexibility in real applications such as rescue in dangerous scenarios. The autonomous recovery system, which is used to guide the…

In this article, an approach for probabilistic trajectory forecasting of vulnerable road users (VRUs) is presented, which considers past movements and the surrounding scene. Past movements are represented by 3D poses reflecting the posture…