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We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captures 4D scenes from an online stream of color images with…
As the cost and technical difficulty of jamming devices continue to decrease, jamming has become one of the major threats to positioning service. Unfortunately, most conventional technologies are vulnerable to jamming attacks due to their…
Perception tasks play a crucial role in the development of automated operations and systems across multiple application fields. In the railway transportation domain, these tasks can improve the safety, reliability, and efficiency of various…
Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…
We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
Following the tracking-by-attention paradigm, this paper introduces an object-centric, transformer-based framework for tracking in 3D. Traditional model-based tracking approaches incorporate the geometric effect of object- and ego motion…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
UAVs, commonly referred to as drones, have witnessed a remarkable surge in popularity due to their versatile applications. These cyber-physical systems depend on multiple sensor inputs, such as cameras, GPS receivers, accelerometers, and…
Unmanned aerial vehicle (UAV)-based visual object tracking has enabled a wide range of applications and attracted increasing attention in the field of intelligent transportation systems because of its versatility and effectiveness. As an…
Open-path Tunable Diode Laser Absorption Spectroscopy offers an effective method for measuring, mapping, and monitoring gas concentrations, such as leaking CO2 or methane. Compared to spatial sampling of gas distributions using in-situ…
Accurate terrain perception is essential for terrain-following flight of agricultural unmanned aerial vehicles (UAVs), yet remains challenging in real-world farmland due to occlusions, complex terrain geometry, and environmental…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
Advancements in analog-to-digital converter (ADC) technology have enabled higher sampling rates, making it feasible to adopt digital radar architectures that directly sample the radio-frequency (RF) signal, eliminating the need for analog…
Many countries in the world are contaminated with landmines. Several thousand casualties occur every year. Although there are certain types of mines that can be detected from a safe stand-off position with tools, humanitarian demining is…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…