Related papers: Monocular UAV Localisation with Deep Learning and …
Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and detection tasks. However, a key challenge remains the…
This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…
Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
This paper presents a generalizable 3D plane detection and reconstruction framework named MonoPlane. Unlike previous robust estimator-based works (which require multiple images or RGB-D input) and learning-based works (which suffer from…
Guided ultrasonic wave localization uses spatially distributed multistatic sensor arrays and generalized beamforming strategies to detect and locate damage across a structure. The propagation channel is often very complex. Methods can…
This paper presents a trustworthy framework for achieving accurate cooperative localization in multiple unmanned aerial vehicle (UAV) systems. The The Cramer-Rao Lower Bound (CRLB) for the three-dimensional (3D) cooperative localization…
Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many…
Sequence-based place recognition methods for all-weather navigation are well-known for producing state-of-the-art results under challenging day-night or summer-winter transitions. These systems, however, rely on complex handcrafted…
Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…
On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…