Related papers: Style Alignment based Dynamic Observation Method f…
Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
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…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
We propose a novel method for geolocalizing Unmanned Aerial Vehicles (UAVs) in environments lacking Global Navigation Satellite Systems (GNSS). Current state-of-the-art techniques employ an offline-trained encoder to generate a vector…
Navigating drones through natural language commands remains challenging due to the dearth of accessible multi-modal datasets and the stringent precision requirements for aligning visual and textual data. To address this pressing need, we…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…
Cross-view UAV geolocalization is fundamentally a challenging large-scale image retrieval task, aiming to determine the geographic coordinates of Unmanned Aerial Vehicle (UAV) queries by matching them against an extensive geo-tagged…
Image-based localization in GNSS-denied environments is critical for UAV autonomy. Existing state-of-the-art approaches rely on matching UAV images to geo-referenced satellite images; however, they typically require large-scale, paired…
Aerial-view geo-localization tends to determine an unknown position through matching the drone-view image with the geo-tagged satellite-view image. This task is mostly regarded as an image retrieval problem. The key underpinning this task…
In low altitude UAV communications, accurate channel estimation remains challenging due to the dynamic nature of air to ground links, exacerbated by high node mobility and the use of large scale antenna arrays, which introduce hybrid near…
Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…
Cross-view geo-localization (CVGL) matches query images ($\textit{e.g.}$, drone) to geographically corresponding opposite-view imagery ($\textit{e.g.}$, satellite). While supervised methods achieve strong performance, their reliance on…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…