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Modern perception systems for autonomous flight are sensitive to occlusion and have limited long-range capability, which is a key bottleneck in improving low-altitude economic task performance. Recent research has shown that the UAV-to-UAV…

Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…

Omnidirectional image (ODI) data is captured with a 360x180 field-of-view, which is much wider than the pinhole cameras and contains richer spatial information than the conventional planar images. Accordingly, omnidirectional vision has…

Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

Current parking area perception algorithms primarily focus on detecting vacant slots within a limited range, relying on error-prone homographic projection for both labeling and inference. However, recent advancements in Advanced Driver…

Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex…

Visual Object Tracking (VOT) aims to estimate the positions of target objects in a video sequence, which is an important vision task with various real-world applications. Depending on whether the initial states of target objects are…

Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…

Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…

Over the past decade, the utilization of UAVs has witnessed significant growth, owing to their agility, rapid deployment, and maneuverability. In particular, the use of UAV-mounted 360-degree cameras to capture omnidirectional videos has…

Video Temporal Grounding (VTG), the task of localizing video segments from text queries, struggles in open-world settings due to limited dataset scale and semantic diversity, causing performance gaps between common and rare concepts. To…

The rapid development of generative models has made it increasingly crucial to develop detectors that can reliably detect synthetic images. Although most of the work has now focused on cross-generator generalization, we argue that this…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

Embedded flight devices with visual capabilities have become essential for a wide range of applications. In aerial image detection, while many existing methods have partially addressed the issue of small target detection, challenges remain…

A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…

Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…