Related papers: Non-Interrupting Rail Track Geometry Measurement S…
This paper addresses the problem of crack detection which is essential for health monitoring of built infrastructure. Our approach includes two stages, data collection using unmanned aerial vehicles (UAVs) and crack detection using…
Given trajectories with gaps (i.e., missing data), we investigate algorithms to identify abnormal gaps in trajectories which occur when a given moving object did not report its location, but other moving objects in the same geographic…
With substantial recent developments in aviation technologies, Unmanned Aerial Vehicles (UAVs) are becoming increasingly integrated in commercial and military operations internationally. Research into the applications of aircraft data is…
Today's railway signalling system heavily relies on trackside infrastructure such as axle counters and track balises. This system has proven itself to be reliable, however, it is not very efficient and, moreover, very costly. Thus, it is…
Simultaneous Localization and Mapping (SLAM) in large-scale, complex, and GPS-denied underground coal mine environments presents significant challenges. Sensors must contend with abnormal operating conditions: GPS unavailability impedes…
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 returns per scan, which is far below the point densities assumed…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
The use of unmanned aerial vehicles (UAVs) for different applications has increased many folds in recent years. The UAVs are expected to change the future air operations. However, there are instances where the UAVs can be used for malicious…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
This study develops a framework for unmanned aerial systems (UASs) to monitor fall hazard prevention systems near unprotected edges and openings in high-rise building projects. A three-step machine-learning-based framework was developed and…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Navigation of UAVs in challenging environments like tunnels or mines, where it is not possible to use GNSS methods to self-localize, illumination may be uneven or nonexistent, and wall features are likely to be scarce, is a complex task,…
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…
Railway systems require regular manual maintenance, a large part of which is dedicated to inspecting track deformation. Such deformation might severely impact trains' runtime security, whereas such inspections remain costly for both finance…
Millions of human casualties resulting from train accidents globally are caused by the inefficient, manual track inspections. Government agencies are seriously concerned about the safe operations of the rail industry after series of…
With explosively increasing demands for unmanned aerial vehicle (UAV) applications, reliable link acquisition for serving UAVs is required. Considering the dynamic characteristics of UAV, it is hugely challenging to persist a reliable link…