Related papers: RAPTOR: Real-Time High-Resolution UAV Video Predic…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
The proliferation of low-precision units in modern high-performance architectures increasingly burdens domain scientists. Historically, the choice in HPC was easy: can we get away with 32 bit floating-point operations and lower bandwidth…
Video prediction is a challenging computer vision task that has a wide range of applications. In this work, we present a new family of Transformer-based models for video prediction. Firstly, an efficient local spatial-temporal separation…
Video diffusion transformers have achieved remarkable progress in high-quality video generation, but remain computationally expensive due to the quadratic complexity of attention over high-dimensional video sequences. Recent acceleration…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
This paper tackles the challenge of real-time 3D trajectory prediction for UAVs, which is critical for applications such as aerial surveillance and defense. Existing prediction models that rely primarily on position data struggle with…
Recognizing a target of interest from the UAVs is much more challenging than the existing object re-identification tasks across multiple city cameras. The images taken by the UAVs usually suffer from significant size difference when…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
Effective disaster response relies on rapid disaster response, where oblique aerial video is the primary modality for initial scouting due to its ability to maximize spatial coverage and situational awareness in limited flight time.…
Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…
Vision transformer (ViT) and its variants have swept through visual learning leaderboards and offer state-of-the-art accuracy in tasks such as image classification, object detection, and semantic segmentation by attending to different parts…
We describe the design, implementation and performance of the RADICAL-Pilot task overlay (RAPTOR). RAPTOR enables the execution of heterogeneous tasks -- i.e., functions and executables with arbitrary duration -- on HPC platforms, providing…
As drone technology advances, using unmanned aerial vehicles for aerial surveys has become the dominant trend in modern low-altitude remote sensing. The surge in aerial video data necessitates accurate prediction for future scenarios and…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
The computational demands of self-attention mechanisms pose a critical challenge for transformer-based video generation, particularly in synthesizing ultra-long sequences. Current approaches, such as factorized attention and fixed sparse…
Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…
High-fidelity digital human representations are increasingly in demand in the digital world, particularly for interactive telepresence, AR/VR, 3D graphics, and the rapidly evolving metaverse. Even though they work well in small spaces,…