Related papers: Relative State Estimation using Event-Based Propel…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
The rapid rise of accessibility of unmanned aerial vehicles or drones pose a threat to general security and confidentiality. Most of the commercially available or custom-built drones are multi-rotors and are comprised of multiple…
Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for onboard state estimation of a high-speed UAV using a monocular…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Safety-critical perception for unmanned aerial vehicles and rotating machinery requires microsecond-latency tracking of fast, periodic motion under egomotion and strong distractors. Frame-based and event-based trackers drift or break on…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
We consider a remote state estimation problem in the presence of an eavesdropper over packet dropping links. A smart sensor transmits its local estimates to a legitimate remote estimator, in the course of which an eavesdropper can randomly…
In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…
Event cameras are bio-inspired sensors that perform well in HDR conditions and have high temporal resolution. However, different from traditional frame-based cameras, event cameras measure asynchronous pixel-level brightness changes and…
We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is an alternative to recent works using a similar model together with an Extended…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
Event cameras provide high-temporal-resolution visual sensing that is well suited for observing fast-moving aerial objects; however, their use for drone trajectory prediction remains limited. This work introduces an event-only drone…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…
Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
We present a novel method for measuring the rate of periodic phenomena (e.g., rotation, flicker, and vibration), by an event camera, a device asynchronously reporting brightness changes at independently operating pixels with high temporal…
Event cameras offer multiple advantages in monocular egocentric 3D human pose estimation from head-mounted devices, such as millisecond temporal resolution, high dynamic range, and negligible motion blur. Existing methods effectively…