Related papers: Visual Area Coverage with Attitude-Dependent Camer…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for…
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
Visual localization is the task of estimating the camera pose from which a given image was taken and is central to several 3D computer vision applications. With the rapid growth in the popularity of AR/VR/MR devices and cloud-based…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…
Our aim is to estimate the perspective-effected geometric distortion of a scene from a video feed. In contrast to all previous work we wish to achieve this using from low-level, spatio-temporally local motion features used in commercial…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
In real life, providing security for a set of large areas by covering the area with Unmanned Aerial Vehicles (UAVs) is a difficult problem that consist of multiple objectives. These difficulties are even greater if the area coverage must…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…
The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…
This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…