Related papers: Towards Robust Monocular Visual Odometry for Flyin…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly…
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
Landing is the most challenging and risky aspect of multirotor drone flight, and only simple landing methods exist for autonomous drones. We explore methods for autonomous drone landing in two scenarios. In the first scenario, we examine…
The visual cue of optical flow plays a major role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance…
Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
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 the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor settings such as agriculture and forestry, present unique…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…
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 next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…