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Optical flow estimation is a basic task in self-driving and robotics systems, which enables to temporally interpret traffic scenes. Autonomous vehicles clearly benefit from the ultra-wide Field of View (FoV) offered by 360{\deg} panoramic…
This paper presents FLAF, a focal line and feature-constrained active view planning method for tracking failure avoidance in feature-based visual navigation of mobile robots. Our FLAF-based visual navigation is built upon a feature-based…
Eye tracking is a key technology for gaze-based interactions in Extended Reality (XR), but traditional frame-based systems struggle to meet XR's demands for high accuracy, low latency, and power efficiency. Event cameras offer a promising…
Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Event-based vision sensors produce asynchronous event streams with high temporal resolution based on changes in the visual scene. The properties of these sensors allow for accurate and fast calculation of optical flow as events are…
Optical flow estimation is crucial for autonomous navigation and localization of unmanned aerial vehicles (UAV). On micro and nano UAVs, real-time calculation of the optical flow is run on low power and resource-constrained microcontroller…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…
Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…
Fast and Relaxed Vector Fitting (FRVF) is a frequency-domain system identification approach that has been widely adopted in electrical system modelling, while its application to mechanical systems has remained relatively unexplored. In this…
In the domain of computer vision, optical flow stands as a cornerstone for unraveling dynamic visual scenes. However, the challenge of accurately estimating optical flow under conditions of large nonlinear motion patterns remains an open…
Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…
Simulation-based verification algorithms can provide formal safety guarantees for nonlinear and hybrid systems. The previous algorithms rely on user provided model annotations called discrepancy function, which are crucial for computing…
The ability of resource-constrained biological systems such as fruitflies to perform complex and high-speed maneuvers in cluttered environments has been one of the prime sources of inspiration for developing vision-based autonomous systems.…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
Efficient processing of high-res video streams is safety-critical for many robotics applications such as autonomous driving. To maintain real-time performance, many practical systems downsample the video stream. But this can hurt downstream…
Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…