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Conventional SLAM algorithms takes a strong assumption of scene motionlessness, which limits the application in real environments. This paper tries to tackle the challenging visual SLAM issue of moving objects in dynamic environments. We…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
In multimodal traffic monitoring, we gather traffic statistics for distinct transportation modes, such as pedestrians, cars and bicycles, in order to analyze and improve people's daily mobility in terms of safety and convenience. On account…
Object detection in remote sensing imagery plays a vital role in various Earth observation applications. However, unlike object detection in natural scene images, this task is particularly challenging due to the abundance of small, often…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
Road terrains play a crucial role in ensuring the driving safety of autonomous vehicles (AVs). However, existing sensors of AVs, including cameras and Lidars, are susceptible to variations in lighting and weather conditions, making it…
Visual-inertial SLAM is crucial in various fields, such as aerial vehicles, industrial robots, and autonomous driving. The fusion of camera and inertial measurement unit (IMU) makes up for the shortcomings of a signal sensor, which…
Visual tracking often faces challenges such as invalid targets and decreased performance in low-light conditions when relying solely on RGB image sequences. While incorporating additional modalities like depth and infrared data has proven…
Millimeter wave (mmWave) communications are vulnerable to blockages and node mobility due to the highly directional signal beams. The emerging Reconfigurable Intelligent Surfaces (RISs) technique can effectively mitigate the blockage…
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…
We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…
Radar presents a promising alternative to lidar and vision in autonomous vehicle applications, able to detect objects at long range under a variety of weather conditions. However, distinguishing between occupied and free space from raw…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
Flexible intelligent metasurface (FIM) has emerged as a transformative technology to enhance wireless sensing by dynamically morphing its three-dimensional (3D) surface shape and electromagnetic response. Unlike conventional rigid arrays,…
Multi-object tracking (MOT) aims to track multiple objects while maintaining consistent identities across frames of a given video. In unmanned aerial vehicle (UAV) recorded videos, frequent viewpoint changes and complex UAV-ground relative…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
In Intelligent Transportation Systems (ITS), multi-object tracking is primarily based on frame-based cameras. However, these cameras tend to perform poorly under dim lighting and high-speed motion conditions. Event cameras, characterized by…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…