Related papers: ClusterFusion: Real-time Relative Positioning and …
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
UAV images are critical for applications such as large-area mapping, infrastructure inspection, and emergency response. However, in real-world flight environments, a single image is often affected by multiple degradation factors, including…
Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Online reconstruction based on RGB-D sequences has thus far been restrained to relatively slow camera motions (<1m/s). Under very fast camera motion (e.g., 3m/s), the reconstruction can easily crumble even for the state-of-the-art methods.…
Many visual simultaneous localization and mapping (SLAM) systems have been shown to be accurate and robust, and have real-time performance capabilities on both indoor and ground datasets. However, these methods can be problematic when…
In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…
To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…
Accurate visual localization in dense urban environments poses a fundamental task in photogrammetry, geospatial information science, and robotics. While imagery is a low-cost and widely accessible sensing modality, its effectiveness on…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
Real-time depth reconstruction from ultra-high-resolution UAV imagery is essential for time-critical geospatial tasks such as disaster response, yet remains challenging due to wide-baseline parallax, large image sizes, low-texture or…
Automated Aerial Triangulation (AAT), aiming to restore image pose and reconstruct sparse points simultaneously, plays a pivotal role in earth observation. With its rich research heritage spanning several decades in photogrammetry, AAT has…
In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…
Illumination inconsistency is a fundamental challenge in multi-view 3D reconstruction. Variations in sunlight direction, cloud cover, and shadows break the constant-lighting assumption underlying both classical multi-view stereo (MVS) and…
In this paper, we present a case study that performs an unmanned aerial vehicle (UAV) based fine-scale 3D change detection and monitoring of progressive collapse performance of a building during a demolition event. Multi-temporal oblique…
We consider the positioning problem of aerial drone systems for efficient three-dimensional (3-D) coverage. Our solution draws from molecular geometry, where forces among electron pairs surrounding a central atom arrange their positions. In…
Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…
Large Reconstruction Models have made significant strides in the realm of automated 3D content generation from single or multiple input images. Despite their success, these models often produce 3D meshes with geometric inaccuracies,…