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This paper presents a novel architecture for point cloud road user detection, which is based on a classical point cloud proposal generator approach, that utilizes simple geometrical rules. New methods are coupled with this technique to…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Active visual SLAM finds a wide array of applications in GNSS-Denied sub-terrain environments and outdoor environments for ground robots. To achieve robust localization and mapping accuracy, it is imperative to incorporate the perception…
Anomaly detection is a key goal of autonomous surveillance systems that should be able to alert unusual observations. In this paper, we propose a holistic anomaly detection system using deep neural networks for surveillance of critical…
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…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
Multi-traversal data, commonly collected through daily commutes or by self-driving fleets, provides multiple viewpoints for scene reconstruction within a road block. This data offers significant potential for high-quality novel view…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…
Uncrewed aerial vehicles (UAVs) play a pivotal role in ensuring seamless connectivity for Internet of Things (IoT) devices, particularly in scenarios where conventional terrestrial networks are constrained or temporarily unavailable.…
Unmanned aerial vehicles (UAVs) can be users that support new applications, or be communication access points that serve terrestrial and/or aerial users. In this paper, we focus on the connectivity problem of aerial users when they are…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
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).…
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions unseen from the training views yield unreliable predictions…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
Visual inspection is predominantly used to evaluate the state of civil structures, but recent developments in unmanned aerial vehicles (UAVs) and artificial intelligence have increased the speed, safety, and reliability of the inspection…