Related papers: Relative State Estimation using Event-Based Propel…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
Transporting heavy or oversized slung loads using rotorcraft has traditionally relied on single-aircraft systems, which limits both payload capacity and control authority. Cooperative multilift using teams of rotorcraft offers a scalable…
Event cameras provide asynchronous, data-driven measurements of local temporal contrast over a large dynamic range with extremely high temporal resolution. Conventional cameras capture low-frequency reference intensity information. These…
In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond…
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…
Background: Large engineering structures, such as space launch towers and suspension bridges, are subjected to extreme forces that cause high-speed 3D deformation and compromise safety. These structures typically operate under extreme…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…
Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…
Event cameras are neuromorphic vision sensors that record a scene as sparse and asynchronous event streams. Most event-based methods project events into dense frames and process them using conventional vision models, resulting in high…
Existing micro aerial vehicle (MAV) detection methods mainly rely on the target's appearance features in RGB images, whose diversity makes it difficult to achieve generalized MAV detection. We notice that different types of MAVs share the…
Many real-life dynamical systems change abruptly followed by almost stationary periods. In this paper, we consider streams of data with such abrupt behavior and investigate the problem of tracking their statistical properties in an online…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of…
Event cameras are novel bio-inspired sensors that offer advantages over traditional cameras (low latency, high dynamic range, low power, etc.). Optical flow estimation methods that work on packets of events trade off speed for accuracy,…