Related papers: Obstacle Avoidance Using a Monocular Camera

Achieving safe, high-speed autonomous flight in complex environments with static, dynamic, or mixed obstacles remains challenging, as a single perception modality is incomplete. Depth cameras are effective for static objects but suffer from…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…

Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…

Obstacle avoidance is a fundamental requirement for autonomous robots which operate in, and interact with, the real world. When perception is limited to monocular vision avoiding collision becomes significantly more challenging due to the…

Aircraft collision avoidance systems is critical to modern aviation. These systems are designed to predict potential collisions between aircraft and recommend appropriate avoidance actions. Creating effective collision avoidance systems…

The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the…

In this paper, we seek to evaluate the effectiveness of a novel forward-looking sonar system with a limited number of beams for collision avoidance for small autonomous underwater vehicles (AUVs). We present a collision avoidance strategy…

This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…

We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages heterogeneous…

This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

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…

We explore the possibility of using a single monocular camera to forecast the time to collision between a suitcase-shaped robot being pushed by its user and other nearby pedestrians. We develop a purely image-based deep learning approach…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…