Related papers: Vision-Based Terrain Relative Navigation on High-A…
High altitude balloons (HABs) are typically tracked via GPS data sent via real-time radio-based communication systems such as the Automated Packet Reporting System (APRS). Prefabricated APRS-compatible tracker modules have made it trivial…
Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Autonomous missions of drones require continuous and reliable estimates for the drone's attitude, velocity, and position. Traditionally, these states are estimated by applying Extended Kalman Filter (EKF) to Accelerometer, Gyroscope,…
Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…
Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…
The Balloon-borne Large Aperture Submillimeter Telescope (BLAST) is a sub-orbital surveying experiment designed to study the evolutionary history and processes of star formation in local galaxies (including the Milky Way) and galaxies at…
Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…
Effective disaster response relies on rapid disaster response, where oblique aerial video is the primary modality for initial scouting due to its ability to maximize spatial coverage and situational awareness in limited flight time.…
Autonomous driving requires an accurate and fast 3D perception system that includes 3D object detection, tracking, and segmentation. Although recent low-cost camera-based approaches have shown promising results, they are susceptible to poor…
We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a novel fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as…
The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
Despite achieving remarkable progress in recent years, single-image super-resolution methods are developed with several limitations. Specifically, they are trained on fixed content domains with certain degradations (whether synthetic or…
Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene…
Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…
This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
An attitude determination system for balloon-borne experiments is presented. The system provides pointing information in azimuth and elevation for instruments flying on stratospheric balloons over Antarctica. In-flight attitude is given by…
Stratospheric High Altitude Balloons (HABs) have great potential as a remote sensing platform for Earth Observations that complements orbiting satellites and low flying drones. At altitudes between 20-35 kms, HABs operate significantly…