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This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…
This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…
In this paper, a new technique for camera calibration using only GPS data is presented. A new way of tracking objects that move on a plane in a video is achieved by using the location and size of the bounding box to estimate the distance,…
Low-overlap aerial imagery poses significant challenges to traditional photogrammetric methods, which rely heavily on high image overlap to produce accurate and complete mapping products. In this study, we propose a novel workflow based on…
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…
Monocular 3D human pose estimation technologies have the potential to greatly increase the availability of human movement data. The best-performing models for single-image 2D-3D lifting use graph convolutional networks (GCNs) that typically…
Accurate height estimation from monocular aerial imagery presents a significant challenge due to its inherently ill-posed nature. This limitation is rooted in the absence of adequate geometric constraints available to the model when…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…
This paper deals with 3D reconstruction of seabirds which recently came into focus of environmental scientists as valuable bio-indicators for environmental change. Such 3D information is beneficial for analyzing the bird's behavior and…
In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…
UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current wind measurement methods using UAVs that need to be…
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…
Buried survivor detection in the post-disaster environment by employing radar as sensor is an appealing approach. However, the implementation in the real field is challenging especially for large observation missions. Mounting the radar on…
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult to track and intercept. While existing methods focus on…
In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…