Related papers: Visual Area Coverage with Attitude-Dependent Camer…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…
Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
This paper presents a distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs), and to recover from simultaneous failures of multiple UAVs.…
Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views match the training domain, adapting them to shifting…
We aim to recover the geometry of 3D parametric scenes using very few depth measurements from low-cost, commercially available time-of-flight sensors. These sensors offer very low spatial resolution (i.e., a single pixel), but image a wide…
This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
Reliable and exact assessment of visibility is essential for safe air traffic. In order to overcome the drawbacks of the currently subjective reports from human observers, we present an approach to automatically derive visibility measures…
State-of-the-art methods for counting people in crowded scenes rely on deep networks to estimate crowd density in the image plane. While useful for this purpose, this image-plane density has no immediate physical meaning because it is…
We introduce ViewNeRF, a Neural Radiance Field-based viewpoint estimation method that learns to predict category-level viewpoints directly from images during training. While NeRF is usually trained with ground-truth camera poses, multiple…
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…
Video surveillance can be significantly enhanced by using both top-view data, e.g., those from drone-mounted cameras in the air, and horizontal-view data, e.g., those from wearable cameras on the ground. Collaborative analysis of…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
Visually localizing an image, i.e., estimating its camera pose, requires building a scene representation that serves as a visual map. The representation we choose has direct consequences towards the practicability of our system. Even when…
Conventional video segmentation approaches rely heavily on appearance models. Such methods often use appearance descriptors that have limited discriminative power under complex scenarios. To improve the segmentation performance, this paper…