Related papers: Relative Visual Localization for Unmanned Aerial S…
In recent years, unmanned aircraft systems (UASs) are frequently used in many different applications of photogrammetry such as building damage monitoring, archaeological mapping and vegetation monitoring. In this paper, a new…
Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…
To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…
Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
This study develops a framework for unmanned aerial systems (UASs) to monitor fall hazard prevention systems near unprotected edges and openings in high-rise building projects. A three-step machine-learning-based framework was developed and…
Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces,…
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
Purpose: This paper presents a new dataset of Aerial Imagery from Robotics simulator (abbr. AIR). AIR dataset aims to provide a starting point for localization system development and to become a typical benchmark for accuracy comparison of…
Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A…
Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic…
Unmanned Aerial Vehicles (UAVs) have been widely used in many areas, including transportation, surveillance, and military. However, their potential for safety and privacy violations is an increasing issue and highly limits their broader…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…