Related papers: Monocular visual autonomous landing system for qua…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7…
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…
Monocular 3D lane detection is challenged by aleatoric uncertainty arising from inherent observation noise. Existing methods rely on simplified geometric assumptions, such as independent point predictions or global planar modeling, failing…
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…
Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…
Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
In this paper, we introduce a new quadcopter fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a regular multirotor even when a single thruster fails. The new solution employs a novel…
In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…
A remaining challenge in multirotor drone flight is the autonomous identification of viable landing sites in unstructured environments. One approach to solve this problem is to create lightweight, appearance-based terrain classifiers that…
The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…
This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…