Related papers: Model-Based Real-Time Pose and Sag Estimation of O…
Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…
This paper investigates person detection and tracking in an industrial indoor workspace using a LiDAR mounted on an overhead crane. The overhead viewpoint introduces a strong domain shift from common vehicle-centric LiDAR benchmarks, and…
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
LiDAR is currently one of the most utilized sensors to effectively monitor the status of power lines and facilitate the inspection of remote power distribution networks and related infrastructures. To ensure the safe operation of the smart…
Light Detection and Ranging (LiDAR) sensors have become the sensor of choice for many robotic state estimation tasks. Because of this, in recent years there has been significant work done to fine the most accurate method to perform state…
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…
Autonomous inspection of powerlines with quadrotors is challenging. Flights require persistent perception to keep a close look at the lines. We propose a method that uses event cameras to robustly track powerlines. Event cameras are…
The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…
Millimeter wave communication systems can leverage information from sensors to reduce the overhead associated with link configuration. LIDAR (light detection and ranging) is one sensor widely used in autonomous driving for high resolution…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…
Detecting small objects, such as drones, over long distances presents a significant challenge with broad implications for security, surveillance, environmental monitoring, and autonomous systems. Traditional imaging-based methods rely on…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
Modern LiDAR sensors find increasing use in safety-critical applications. Therefore, highly accurate modeling of the system's behavior under demanding environmental conditions is necessary. In this paper, we present a modular structure to…
Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…