Related papers: Multi-Resolution Elevation Mapping and Safe Landin…
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…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
Unmanned Aerial Vehicles (UAVs) are crucial in Search and Rescue (SAR) missions due to their ability to monitor vast maritime areas. However, small objects often remain difficult to detect from high altitudes due to low object-to-background…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…
Light field cameras and multi-camera arrays have emerged as promising solutions for accurately estimating depth by passively capturing light information. This is possible because the 3D information of a scene is embedded in the 4D light…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
Runway and taxiway pavements are exposed to high stress during their projected lifetime, which inevitably leads to a decrease in their condition over time. To make sure airport pavement condition ensure uninterrupted and resilient…
Multiview detection uses multiple calibrated cameras with overlapping fields of views to locate occluded pedestrians. In this field, existing methods typically adopt a ``human modeling - aggregation'' strategy. To find robust pedestrian…
Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs transition to routine urban and rural operations. Existing…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
As the interest in autonomous systems continues to grow, one of the major challenges is collecting sufficient and representative real-world data. Despite the strong practical and commercial interest in autonomous landing systems in the…
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement from a miniature optical time-of-flight sensor. The key to our…