Related papers: Unifying Foundation Models with Quadrotor Control …
Visual object tracking is an important task in computer vision, which has many real-world applications, e.g., video surveillance, visual navigation. Visual object tracking also has many challenges, e.g., object occlusion and deformation. To…
Point tracking aims to identify the same physical point across video frames and serves as a geometry-aware representation of motion. This representation supports a wide range of applications, from robotics to augmented reality, by enabling…
Objection detection (OD) has been one of the most fundamental tasks in computer vision. Recent developments in deep learning have pushed the performance of image OD to new heights by learning-based, data-driven approaches. On the other…
Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
In this paper, an online adaptive model-free tracker is proposed to track single objects in video sequences to deal with real-world tracking challenges like low-resolution, object deformation, occlusion and motion blur. The novelty lies in…
As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…
This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
Hyperspectral object tracking using snapshot mosaic cameras is emerging as it provides enhanced spectral information alongside spatial data, contributing to a more comprehensive understanding of material properties. Using transformers,…
Deep learning has recently started being applied to visual tracking of generic objects in video streams. For the purposes of robotics applications, it is very important for a target tracker to recover its track if it is lost due to heavy or…
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Visual object tracking has gained promising progress in past decades. Most of the existing approaches focus on learning target representation in well-conditioned daytime data, while for the unconstrained real-world scenarios with adverse…
Multi-view multi-object tracking (MVMOT) has found widespread applications in intelligent transportation, surveillance systems, and urban management. However, existing studies rarely address genuinely free-viewpoint MVMOT systems, which…