Related papers: A2VISR: An Active and Adaptive Ground-Aerial Local…
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…
We propose a novel fine-grained cross-view localization method that estimates the 3 Degrees of Freedom pose of a ground-level image in an aerial image of the surroundings by matching fine-grained features between the two images. The pose is…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
UAVs showed great efficiency on scanning bridge decks surface by taking a single shot or through stitching a couple of overlaid still images. If potential surface deficits are identified through aerial images, subsequent ground inspections…
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…
The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
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 localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Visual Place Recognition (VPR) has seen significant advances at the frontiers of matching performance and computational superiority over the past few years. However, these evaluations are performed for ground-based mobile platforms and…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…