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In this paper, a sensing-assisted non-line-of-sight (NLoS) identification method for dynamic uncrewed aerial vehicle (UAV) positioning is proposed for the first time. For urban UAV-to-ground scenarios, a new multi-modal…
The flapping-wing aerial vehicle (FWAV) is a new type of flying robot that mimics the flight mode of birds and insects. However, FWAVs have their special characteristics of less load capacity and short endurance time, so that most existing…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…
UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
VIO has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when observable landmarks in the scene lie far away from…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
In this paper, we address the problem of cross-view image geo-localization. Specifically, we aim to estimate the GPS location of a query street view image by finding the matching images in a reference database of geo-tagged bird's eye view…
Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…
With the rapid growth of the low-altitude economy, unmanned aerial vehicles (UAVs) have become key platforms for measurement and tracking in intelligent patrol systems. However, in GNSS-denied environments, localization schemes that rely…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
Generalizable cross-view geo-localization aims to match the same location across views in unseen regions and conditions without GPS supervision. Its core difficulty lies in severe semantic inconsistency caused by viewpoint variation and…
The large variation of viewpoint and irrelevant content around the target always hinder accurate image retrieval and its subsequent tasks. In this paper, we investigate an extremely challenging task: given a ground-view image of a landmark,…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…