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We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from…

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…

Random stepped frequency (RSF) radar, which transmits random-frequency pulses, can suppress the range ambiguity, improve convert detection, and possess excellent electronic counter-countermeasures (ECCM) ability [1]. In this paper, we apply…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

The goal of perception for autonomous vehicles is to extract semantic representations from multiple sensors and fuse these representations into a single "bird's-eye-view" coordinate frame for consumption by motion planning. We propose a new…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

In LiDAR-based 3D object detection for autonomous driving, the ratio of the object size to input scene size is significantly smaller compared to 2D detection cases. Overlooking this difference, many 3D detectors directly follow the common…

The use of Unmanned Aerial Vehicles (UAVs) as a substitute for ordinary vehicles in applications of search and rescue is being studied all over the world due to its flexible mobility and less obstruction, including two main tasks: search…

This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…

Small Unmanned Aerial Vehicles (UAVs) are becoming potential threats to security-sensitive areas and personal privacy. A UAV can shoot photos at height, but how to detect such an uninvited intruder is an open problem. This paper presents…

Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial reference trajectories or explicit 6-DoF gate pose estimation,…

Single-photon Lidar (SPL) offers unprecedented sensitivity and time resolution, which enables Satellite Laser Ranging (SLR) systems to identify space debris from distances spanning thousands of kilometers. However, existing SPL systems face…

This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

Video-based sensing from aerial drones, especially small multirotor drones, can provide rich data for numerous applications, including traffic analysis (computing traffic flow volumes), precision agriculture (periodically evaluating plant…

Ultrawideband radar is an attractive technology for a variety of applications including security systems. As such, it is essential to develop low-cost systems that produce clear target images. Electromagnetic inverse scattering with…

The Habitable Worlds Observatory requires active speckle suppression to directly image Earth-like exoplanets. Focal plane wavefront sensing and control allows us to detect, and subsequently remove, time-varying speckles through measurements…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…

Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…