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There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…
New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based…
Accurate volume estimation of objects from visual data is a long-standing challenge in computer vision with significant applications in robotics, logistics, and smart health. Existing methods often rely on complex 3D reconstruction…
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…
Unmanned aerial vehicles (UAVs) offer dynamic trajectory control, enabling them to avoid obstacles and establish line-of-sight (LoS) wireless channels with ground nodes (GNs), unlike traditional ground-fixed base stations. This study…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
In volume visualization, users can interactively explore the three-dimensional data by specifying color and opacity mappings in the transfer function (TF) or adjusting lighting parameters, facilitating meaningful interpretation of the…
Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…
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…
3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…
Solving image-to-3D from a single view is an ill-posed problem, and current neural reconstruction methods addressing it through diffusion models still rely on scene-specific optimization, constraining their generalization capability. To…
Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…