Related papers: Visual Localization via Semantic Structures in Aut…
Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…
This technical report presents the 1st winning model for UG2+, a task in CVPR 2024 UAV Tracking and Pose-Estimation Challenge. This challenge faces difficulties in drone detection, UAV-type classification and 2D/3D trajectory estimation in…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
Utility-scale solar arrays require specialized inspection methods for detecting faulty panels. Photovoltaic (PV) panel faults caused by weather, ground leakage, circuit issues, temperature, environment, age, and other damage can take many…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during an AUV's terminal guidance phase as it approaches an omnidirectional docking…
Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards, characterized by repetitive row…
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in its operating environment. This is a…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Collapsing of structural buildings has been sighted commonly and the presence of potential faults has proved to be damaging to the buildings, resulting in accidents. It is essential to continuously monitor any building for faults where…
Despite the technological advancements in the construction and surveying sector, the inspection of salient features like windows in an under-construction or existing building is predominantly a manual process. Moreover, the number of…
Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present systems, algorithms, and experiments to perform radiation…
In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…