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The past few decades have witnessed the great progress of unmanned aircraft vehicles (UAVs) in civilian fields, especially in photogrammetry and remote sensing. In contrast with the platforms of manned aircraft and satellite, the UAV…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
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…
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…
Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present a new approach for detection of aircraft below the horizon.…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…
The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the…
A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package delivery to disaster management benefiting from the…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…