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Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Fringe projection profilometry (FPP) is a widely used technique for measuring object surface form and three-dimensional (3D) geometry, capable of delivering high-precision, high-resolution measurements when paired with suitable cameras and…

General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…

Convolutional Neural Networks (CNN) possess many positive qualities when it comes to spatial raster data. Translation invariance enables CNNs to detect features regardless of their position in the scene. However, in some domains, like…

In past years, several studies have proposed new methods and applications for urban wind simulations. In this article, we present a fast and automatic methodology for reconstructing airflows within urban environments using LiDAR and…

Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a strategy for…

It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…

Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely on a single camera for perception. Existing visual SLAM…

Manual pruning of radiata pine, a species of major economic importance to New Zealand forestry, is hazardous, labour-intensive, and increasingly constrained by workforce shortages. Existing autonomous pruning platforms typically rely on…

We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gate's pose. Due to the sim-to-real gap,…

Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…

Airborne optical sectioning, an effective aerial synthetic aperture imaging technique for revealing artifacts occluded by forests, requires precise measurements of drone poses. In this article we present a new approach for reducing pose…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

We propose a physics-informed machine-learned framework for sensor-based flow estimation for drone trajectories in complex urban terrain. The input is a rich set of flow simulations at many wind conditions. The outputs are velocity and…

Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…

The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…

General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimise…