Related papers: A vision-based autonomous UAV inspection framework…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…
The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization…
Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free,…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…