Related papers: Using a Distance Sensor to Detect Deviations in a …
Reliable and exact assessment of visibility is essential for safe air traffic. In order to overcome the drawbacks of the currently subjective reports from human observers, we present an approach to automatically derive visibility measures…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…
Sensors are the key to environmental monitoring, which impart benefits to smart cities in many aspects, such as providing real-time air quality information to assist human decision-making. However, it is impractical to deploy massive…
Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…
Change detection is one of the most challenging issues when analyzing remotely sensed images. Comparing several multi-date images acquired through the same kind of sensor is the most common scenario. Conversely, designing robust, flexible…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
This article describes novel approaches to quickly estimate planar surfaces from RGBD sensor data. The approach manipulates the standard algebraic fitting equations into a form that allows many of the needed regression variables to be…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
In this study, we present a method for detecting and analyzing the velocities of moving objects in Earth observation satellite images, specifically using data from Planet Labs' push broom scanning satellites. By exploiting the sequential…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
This work aims at generating a model of the ocean surface and its dynamics from one or more video cameras. The idea is to model wave patterns from video as a first step towards a larger system of photogrammetric monitoring of marine…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…
Some optical measurements require relative timing of intensity variations with accuracy much finer than the camera frame period. One motivating example is dynamic aurora, where different prompt emissions are expected to originate from…
Accurate and fast 3D imaging of specular surfaces still poses major challenges for state-of-the-art optical measurement principles. Frequently used methods, such as phase-measuring deflectometry (PMD) or shape-from-polarization (SfP), rely…
The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…
In this paper we propose a novel approach for detecting and tracking objects in videos with variable background i.e. videos captured by moving cameras without any additional sensor. In a video captured by a moving camera, both the…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…