Related papers: Visibility-aware Trajectory Optimization with Appl…
Shared control improves Human-Robot Interaction by reducing the user's workload and increasing the robot's autonomy. It allows robots to perform tasks under the user's supervision. Current eye-tracking-driven approaches face several…
Spatio-temporal trajectory analytics is at the core of smart mobility solutions, which offers unprecedented information for diversified applications such as urban planning, infrastructure development, and vehicular networks. Trajectory…
Locational measures of accessibility are widely used in urban and transportation planning to understand the impact of the transportation system on influencing people's access to places. However, there is a considerable lack of measurement…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
3D Single Object Tracking (SOT) is a fundamental task in computer vision and plays a critical role in applications like autonomous driving. However, existing algorithms often involve complex designs and multiple loss functions, making model…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to…
Algorithms for the estimation of gaze direction from mobile and video-based eye trackers typically involve tracking a feature of the eye that moves through the eye camera image in a way that covaries with the shifting gaze direction, such…
Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
Bird strikes present a huge risk for aircraft, especially since traditional airport bird surveillance is mainly dependent on inefficient human observation. Computer vision based technology has been proposed to automatically detect birds,…
Visual Object tracking research has undergone significant improvement in the past few years. The emergence of tracking by detection approach in tracking paradigm has been quite successful in many ways. Recently, deep convolutional neural…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
Compared with traditional short-term tracking, long-term tracking poses more challenges and is much closer to realistic applications. However, few works have been done and their performance have also been limited. In this work, we present a…