Related papers: Lightweight 3D LiDAR-Based UAV Tracking: An Adapti…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those constraints as noise-free pseudo-measurements. To this aim, we…

Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To…

State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…

This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

Nighttime UAV tracking faces significant challenges in real-world robotics operations. Low-light conditions not only limit visual perception capabilities, but cluttered backgrounds and frequent viewpoint changes also cause existing trackers…

Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs),…

Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…

In this paper we propose a novel observer-based method for anomaly detection in connected and automated vehicles (CAVs). The proposed method utilizes an augmented extended Kalman filter (AEKF) to smooth sensor readings of a CAV based on a…

A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…

In the detection of gravitational waves in space, during the science phase of the mission, the point ahead angle mechanism (PAAM) serves to steer a laser beam to compensate for the angle generated by the relative motion of the two…

Unmanned aerial vehicles (UAVs) are widely used due to their low cost and versatility, but they also pose security and privacy threats. Therefore, reliable detection for low-altitude UAVs is an important issue. The strong ground clutter…

Extended Kalman Filter (EKF) has been a popular approach to localization a mobile robot. However, the performance of the EKF and the quality of the estimation depends on the correct a priori knowledge of process and measurement noise…

Multi-object tracking plays a crucial role in various applications, such as autonomous driving and security surveillance. This study introduces Deep LG-Track, a novel multi-object tracker that incorporates three key enhancements to improve…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…

Current state-of-the-art autonomous driving vehicles mainly rely on each individual sensor system to perform perception tasks. Such a framework's reliability could be limited by occlusion or sensor failure. To address this issue, more…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…