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The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…
Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Although fisheye cameras are in high demand in many application areas due to their large field of view, many image and video signal processing tasks such as motion compensation suffer from the introduced strong radial distortions. A…
Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
Current automatic vision systems face two major challenges: scalability and extreme variability of appearance. First, the computational time required to process an image typically scales linearly with the number of pixels in the image,…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
Coverage path planning (CPP) is the task of designing a trajectory that enables a mobile agent to travel over every point of an area of interest. We propose a new method to control an unmanned aerial vehicle (UAV) carrying a camera on a CPP…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
The paper addresses the problem of locating sensors with a circular field of view so that a given line segment is under full surveillance, which is termed as the Disc Covering Problem on a Line. The cost of each sensor includes a fixed…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…