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Traditional object detection methods face performance degradation challenges in complex scenarios such as low-light conditions and heavy occlusions due to a lack of high-level semantic understanding. To address this, this paper proposes an…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Many state-of-the-art delineation methods rely on supervised machine learning algorithms. As a result, they require manually annotated training data, which is tedious to obtain. Furthermore, even minor classification errors may…
In this paper, we tackle the challenge of predicting the unseen walls of a partially observed environment as a set of 2D line segments, conditioned on occupancy grids integrated along the trajectory of a 360{\deg} LIDAR sensor. A dataset of…
Edge detection, a basic task in the field of computer vision, is an important preprocessing operation for the recognition and understanding of a visual scene. In conventional models, the edge image generated is ambiguous, and the edge lines…
Detecting complex anomalies on massive amounts of data is a crucial task in Industry 4.0, best addressed by deep learning. However, available solutions are computationally demanding, requiring cloud architectures prone to latency and…
Object encoding and identification are crucial for many robotic tasks such as autonomous exploration and semantic relocalization. Existing works heavily rely on the tracking of detected objects but have difficulty recalling revisited…
We propose an unsupervised method for parsing large 3D scans of real-world scenes with easily-interpretable shapes. This work aims to provide a practical tool for analyzing 3D scenes in the context of aerial surveying and mapping, without…
We propose a novel Line based parameterization for category specific CAD models. The proposed parameterization associates 3D category-specific CAD model and object under consideration using a dictionary based RANSAC method that uses object…
The recent impressive results of deep learning-based methods on computer vision applications brought fresh air to the research and industrial community. This success is mainly due to the process that allows those methods to learn…
Multi-directional 3D printing has the capability of decreasing or eliminating the need for support structures. Recent work proposed a beam-guided search algorithm to find an optimized sequence of plane-clipping, which gives volume…
3D-LaneNet+ is a camera-based DNN method for anchor free 3D lane detection which is able to detect 3d lanes of any arbitrary topology such as splits, merges, as well as short and perpendicular lanes. We follow recently proposed 3D-LaneNet,…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Online 3D scene perception in real time is essential for robotics, AR/VR, and autonomous systems, particularly in edge computing scenarios where computational resources are limited and privacy is crucial. Recent state-of-the-art methods…
This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed…
The increasing penetration rate of new energy in the power system has put forward higher requirements for the operation and maintenance of substations and transmission lines. Using the Unmanned Aerial Vehicles (UAV) to identify foreign…
In low-altitude Unmanned Aerial Vehicle (UAV) flights, power lines are considered as one of the most threatening hazards and one of the most difficult obstacles to avoid. In recent years, many vision-based techniques have been proposed to…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…