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Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Incorporating multiple camera views for detection alleviates the impact of occlusions in crowded scenes. In a multiview system, we need to answer two important questions when dealing with ambiguities that arise from occlusions. First, how…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Multi-view object tracking (MVOT) offers promising solutions to challenges such as occlusion and target loss, which are common in traditional single-view tracking. However, progress has been limited by the lack of comprehensive multi-view…
For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…
We propose a novel flow synthesis based visual servoing framework enabling long-range obstacle avoidance for Micro Air Vehicles (MAV) flying amongst tall skyscrapers. Recent deep learning based frameworks use optical flow to do…
Multi-object tracking (MOT) in UAV-based video is challenging due to variations in viewpoint, low resolution, and the presence of small objects. While other research on MOT dedicated to aerial videos primarily focuses on the academic aspect…
Autonomous Vehicles (AVs) refer to systems capable of perceiving their states and moving without human intervention. Among the factors required for autonomous decision-making in mobility, positional awareness of the vehicle itself is the…
Idling vehicle detection (IVD) uses surveillance video and multichannel audio to localize and classify vehicles in the last frame as moving, idling, or engine-off in pick-up zones. IVD faces three challenges: (i) modality heterogeneity…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
Animals with foveated vision, including humans, experience microsaccades, small, rapid eye movements that they are not aware of. Inspired by this phenomenon, we develop a method for "Artificial Microsaccade Compensation". It can stabilize…
Time-of-flight (ToF) cameras are becoming increasingly popular for 3D imaging. Their optimal usage has been studied from the several aspects. One of the open research problems is the possibility of a multicamera interference problem when…
The increasing penetration rate of new energy in the power system has put forward higher requirements for the operation and maintenance of substations and transmission lines. Using the Unmanned Aerial Vehicles (UAV) to identify foreign…
The blockage is a key challenge for millimeter wave communication systems, since these systems mainly work on line-of-sight (LOS) links, and the blockage can degrade the system performance significantly. It is recently found that visual…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have…