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Practical aperture synthesis imaging algorithms work by iterating between estimating the sky brightness distribution and a comparison of a prediction based on this estimate with the measured data ("visibilities"). Accuracy in the latter…
Every volumetric velocimetry measurements based on tracer (particles, bubbles, etc.) detection can be strongly influenced by the optical screening phenomenon. It has to be taken into account when the the statistical properties associated to…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
Interactive volume visualization using a mixed reality (MR) system helps provide users with an intuitive spatial perception of volumetric data. Due to sophisticated requirements of user interaction and vision when using MR head-mounted…
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…
We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
Volume visualization is a method that displays three-dimensional (3D) data in two-dimensional (2D) space. Using 3D datasets instead of 2D traditional images improves the visualization of anatomical structures, and volume visualization helps…
Spectrum sharing, as an approach to significantly improve spectrum efficiency in the era of 6th generation mobile networks (6G), has attracted extensive attention. Radio Environment Map (REM) based low-complexity spectrum sharing is widely…
In this paper, we study to employ geographic information to address the blockage problem of air-to-ground links between UAV and terrestrial nodes. In particular, a UAV relay is deployed to establish communication links from a ground base…
Varying terrain conditions and limited field-of-view restricts the visibility of aerial robots while performing visual monitoring operations. In this paper, we study the multi-point monitoring problem on a 2.5D terrain using an unmanned…
This paper focuses on perceiving and navigating 3D environments using echoes and RGB image. In particular, we perform depth estimation by fusing RGB image with echoes, received from multiple orientations. Unlike previous works, we go beyond…
This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an…
Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
Reconstructing coherent 3D geometry and appearance from unposed multi-view images is a fundamental yet challenging problem in computer vision. Most existing visual geometry foundation models predict explicit geometry by regressing…