Related papers: Relative State Estimation using Event-Based Propel…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
This paper studies the remote state estimation problem of linear time-invariant systems with stochastic event-triggered sensor schedules in the presence of packet drops between the sensor and the estimator. It is shown that the system state…
Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…
3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…
The widespread adoption of quadrotors for diverse applications, from agriculture to public safety, necessitates an understanding of the aerodynamic disturbances they create. This paper introduces a computationally lightweight model for…
Star trackers are state-of-the-art attitude estimation devices which function by recognising and tracking star patterns. Most commercial star trackers use conventional optical sensors. A recent alternative is to use event sensors, which…
In real world scenarios, due to environmental or hardware constraints, the quadrotor is forced to navigate in pure inertial navigation mode while operating indoors or outdoors. To mitigate inertial drift, end-to-end neural network…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
To ensure reliable and effective mobility management for aerial user equipment (UE), estimating the speed of cellular-connected unmanned aerial vehicles (UAVs) carries critical importance since this can help to improve the quality of…
This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…
In this paper, we address the Perception--Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Six degree of freedom (6DoF) pose estimation for novel objects is a critical task in computer vision, yet it faces significant challenges in high-speed and low-light scenarios where standard RGB cameras suffer from motion blur. While event…
Simulating event streams from 3D scenes has become a common practice in event-based vision research, as it meets the demand for large-scale, high temporal frequency data without setting up expensive hardware devices or undertaking extensive…
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…
High-speed vision sensing is essential for real-time perception in applications such as robotics, autonomous vehicles, and industrial automation. Traditional frame-based vision systems suffer from motion blur, high latency, and redundant…