Related papers: From 2D to 3D terrain-following area coverage path…
Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…
Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…
Current methods for 3D object reconstruction from a set of planar cross-sections still struggle to capture detailed topology or require a considerable number of cross-sections. In this paper, we present, to the best of our knowledge the…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Following the success of deep convolutional networks, state-of-the-art methods for 3d human pose estimation have focused on deep end-to-end systems that predict 3d joint locations given raw image pixels. Despite their excellent performance,…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
A 3D scene consists of a set of objects, each with a shape and a layout giving their position in space. Understanding 3D scenes from 2D images is an important goal, with applications in robotics and graphics. While there have been recent…
In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…
The analytical characterization of coverage probability in finite three-dimensional wireless networks has long remained an open problem, hindered by the loss of spatial independence in finite-node settings and the coupling between link…
This paper describes a method for inferring three-dimensional (3D) plant branch structures that are hidden under leaves from multi-view observations. Unlike previous geometric approaches that heavily rely on the visibility of the branches…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…
The order in which plane-filling curves visit points in the plane can be exploited to design efficient algorithms. Typically, the curves are useful because they preserve locality: points that are close to each other along the curve tend to…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
How to automatically generate a realistic large-scale 3D road network is a key point for immersive and credible traffic simulations. Existing methods cannot automatically generate various kinds of intersections in 3D space based on GIS…
Terrain information is a crucial factor affecting the performance of unmanned aerial vehicle (UAV) networks. As a tutorial, this article provides a unique perspective on the completeness of terrain information, summarizing and enhancing the…
The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous…
Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…