Related papers: Look Both Ways: Bidirectional Visual Sensing for A…
Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
Marker-based and marker-less optical skeletal motion-capture methods use an outside-in arrangement of cameras placed around a scene, with viewpoints converging on the center. They often create discomfort by possibly needed marker suits, and…
Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…
The ability to identify the static background in videos captured by a moving camera is an important pre-requisite for many video applications (e.g. video stabilization, stitching, and segmentation). Existing methods usually face…
Due to the needs of road traffic flow monitoring and public safety management, video surveillance cameras are widely distributed in urban roads. However, the information captured directly by each camera is siloed, making it difficult to use…
In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…
A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of…
Multispectral imaging is very beneficial in diverse applications, like healthcare and agriculture, since it can capture absorption bands of molecules in different spectral areas. A promising approach for multispectral snapshot imaging are…
Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…
Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar…
We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…
Computer vision relies on labeled datasets for training and evaluation in detecting and recognizing objects. The popular computer vision program, YOLO ("You Only Look Once"), has been shown to accurately detect objects in many major image…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
Wide-field and high-resolution (HR) imaging is essential for various applications such as aviation reconnaissance, topographic mapping and safety monitoring. The existing techniques require a large-scale detector array to capture HR images…
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…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…