Related papers: Tracking the Flight: Exploring a Computational Fra…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
We present an imitation learning method for autonomous drone patrolling based only on raw videos. Different from previous methods, we propose to let the drone learn patrolling in the air by observing and imitating how a human navigator does…
Live tracking of wildlife via high-resolution video processing directly onboard drones is widely unexplored and most existing solutions rely on streaming video to ground stations to support navigation. Yet, both autonomous animal-reactive…
Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
This study presents an advanced multi-view drone swarm imaging system for the three-dimensional characterization of smoke plume dispersion dynamics. The system comprises a manager drone and four worker drones, each equipped with…
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the presence of obstacles. Existing solutions to address these…
There have been several successful implementations of bio-inspired legged robots that can trot, walk, and hop robustly even in the presence of significant unplanned disturbances. Despite all of these accomplishments, practical control and…
A multi-state version of an animal movement analysis method based on conditional logistic regression, called Step Selection Function (SSF), is proposed. In ecology SSF is developed from a comparison between the observed location of an…
Detecting and tracking moving targets through foliage is difficult, and for many cases even impossible in regular aerial images and videos. We present an initial light-weight and drone-operated 1D camera array that supports parallel…
Dynamic driving scene reconstruction is critical for autonomous driving simulation and closed-loop learning. While recent feed-forward methods have shown promise for 3D reconstruction, they struggle with long-range driving sequences due to…
Unmanned aerial vehicles (UAVs) offer new opportunities for wildlife monitoring, with several advantages over traditional field-based methods. They have readily been used to count birds, marine mammals and large herbivores in different…
Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…
Reliable detection, localization and identification of small drones is essential to promote safe, secure and privacy-respecting operation of Unmanned-Aerial Systems (UAS), or simply, drones. This is an increasingly challenging problem with…
We propose a novel approach for aerial video action recognition. Our method is designed for videos captured using UAVs and can run on edge or mobile devices. We present a learning-based approach that uses customized auto zoom to…
The Bureau d'Enqu{\^e}tes et d'Analyses pour la S{\'e}curit{\'e} de l'Aviation Civile (BEA) has to analyze accident videos from on-board or ground cameras involving all types of aircraft. Until now, this analysis has been manual and…
This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target…
Many current paradigms for acoustic event detection (AED) are not adapted to the organic variability of natural sounds, and/or they assume a limit on the number of simultaneous sources: often only one source, or one source of each type, may…
In this paper, we examine the use of data from multiple sensing modes, i.e., accelerometry and global navigation satellite system (GNSS), for classifying animal behavior. We extract three new features from the GNSS data, namely, distance…
Rapid progress in embedded computing hardware increasingly enables on-board image processing on small robots. This development opens the path to replacing costly sensors with sophisticated computer vision techniques. A case in point is the…