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The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
Real-time, meter-resolution gamma-ray mapping is relevant in the detection and mapping of radiological materials, and for applications ranging from nuclear decommissioning, waste management, and environmental remediation to homeland…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
In the application of computer-vision based displacement measurement, an optical target is usually required to prove the reference. In the case that the optical target cannot be attached to the measuring objective, edge detection, feature…
Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…
Monitoring of ground movement close to the rail corridor, such as that associated with landslips caused by ground subsidence and/or uplift, is of great interest for the detection and prevention of possible railway faults. Interferometric…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
Routine and repetitive infrastructure inspections present safety, efficiency, and consistency challenges as they are performed manually, often in challenging or hazardous environments. They can also introduce subjectivity and errors into…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new…
Lane marking detection is fundamental for both advanced driving assistance systems. However, detecting lane is highly challenging when the visibility of a road lane marking is low due to real-life challenging environment and adverse…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
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…
With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…
In many kinds of research, collecting data is tailored to individual research. It is usual to use dedicated and not reusable software to collect data. GrADyS Ground Station framework (GrADyS-GS) aims to collect data in a reusable manner…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing segmentation algorithms often struggle with challenges related…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and tracking framework that respects the size, weight, and power (SWaP)…