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Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
The rapid development of the low-altitude economy emphasizes the critical need for effective perception and intent recognition of non-cooperative unmanned aerial vehicles (UAVs). The advanced generative reasoning capabilities of multimodal…
Drones or unmanned aerial vehicles are traditionally used for military missions, warfare, and espionage. However, the usage of drones has significantly increased due to multiple industrial applications involving security and inspection,…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…
Unmanned Aerial Vehicles (UAVs) became very popular in a vast number of applications in recent years, especially drones with computer vision functions enabled by on-board cameras and embedded systems. Many of them apply object detection…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
As drone-based object detection technology continues to evolve, the demand is shifting from merely detecting objects to enabling users to accurately identify specific targets. For example, users can input particular targets as prompts to…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
While one-stage detectors like YOLOv8 offer fast training speed, they often under-perform on detecting small objects as a trade-off. This becomes even more critical when detecting tiny objects in aerial imagery due to low-resolution targets…
Small object detection has important application value in the fields of autonomous driving and drone scene analysis. As one of the most advanced object detection algorithms, YOLOv3 suffers some challenges when detecting small objects, such…
In multi-target tracking and detection tasks, it is necessary to continuously track multiple targets, such as vehicles, pedestrians, etc. To achieve this goal, the system must be able to continuously acquire and process image frames…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
This project aims to develop a system to run the object detection model under low power consumption conditions. The detection scene is set as an outdoor traveling scene, and the detection categories include people and vehicles. In this…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
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…