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Dangerous surroundings and difficult-to-reach landscapes introduce significant complications for adequate disaster management and recuperation. These problems can be solved by engaging unmanned aerial vehicles (UAVs) provided with embedded…
Object detection algorithms allow to enable many interesting applications which can be implemented in different devices, such as smartphones and wearable devices. In the context of a cultural site, implementing these algorithms in a…
Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…
The diffusion of drones presents significant security and safety challenges. Traditional surveillance systems, particularly conventional frame-based cameras, struggle to reliably detect these targets due to their small size, high agility,…
We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…
Road-boundary detection is important for autonomous driving. It can be used to constrain autonomous vehicles running on road areas to ensure driving safety. Compared with online road-boundary detection using on-vehicle cameras/Lidars,…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…
The capability to detect boulders on the surface of small bodies is beneficial for vision-based applications such as navigation and hazard detection during critical operations. This task is challenging due to the wide assortment of…
Many existing obstacle avoidance algorithms overlook the crucial balance between safety and agility, especially in environments of varying complexity. In our study, we introduce an obstacle avoidance pipeline based on reinforcement…
Visual Place Recognition (vPR) plays a crucial role in Unmanned Aerial Vehicle (UAV) navigation, enabling robust localization across diverse environments. Despite significant advancements, aerial vPR faces unique challenges due to the…
In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…
This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…
In order to monitor the state of large-scale infrastructures, image acquisition by autonomous flight drones is efficient for stable angle and high-quality images. Supervised learning requires a large data set consisting of images and…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Predominant methods for image-based drone detection frequently rely on employing generic object detection algorithms like YOLOv5. While proficient in identifying drones against homogeneous backgrounds, these algorithms often struggle in…
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…
The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…