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Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…
A smart grid is a widely distributed engineering system with overhead transmission lines. Physical damage to these power lines, from natural calamities or technical failures, will disrupt the functional integrity of the grid. To ensure the…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
The ion-optic grid-system is the essential part of electrostatic ion thrusters governing performance and lifetime. Therefore reliable measurements of the grid and aperture geometry over the lifetime are necessary to understand and predict…
As the demands for railway transportation safety increase, traditional methods of rail track inspection no longer meet the needs of modern railway systems. To address the issues of automation and efficiency in rail fault detection, this…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Railway systems, particularly in Germany, require high levels of automation to address legacy infrastructure challenges and increase train traffic safely. A key component of automation is robust long-range perception, essential for early…
We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…
Object tracking from Unmanned Aerial Vehicles (UAVs) is challenged by platform dynamics, camera motion, and limited onboard resources. Existing visual trackers either lack robustness in complex scenarios or are too computationally demanding…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
In this paper we present a machine vision system to efficiently monitor, analyze and present visual data acquired with a railway overhead gantry equipped with multiple cameras. This solution aims to improve the safety of daily life railway…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
Rail and wheel interaction functionality is pivotal to the railway system safety, requiring accurate measurement systems for optimal safety monitoring operation. This paper introduces an innovative onboard measurement system for monitoring…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced…