Related papers: Monocular Event-Based Vision for Obstacle Avoidanc…
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…
This paper introduces an innovative approach for the autonomous landing of Unmanned Aerial Vehicles (UAVs) using only a front-facing monocular camera, therefore obviating the requirement for depth estimation cameras. Drawing on the inherent…
Deep reinforcement learning has achieved great success in laser-based collision avoidance works because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when…
Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
Achieving safe, high-speed autonomous flight in complex environments with static, dynamic, or mixed obstacles remains challenging, as a single perception modality is incomplete. Depth cameras are effective for static objects but suffer from…
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…