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Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces,…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
Roadside monocular 3D detection requires detecting objects of predefined classes in an RGB frame and predicting their 3D attributes, such as bird's-eye-view (BEV) locations. It has broad applications in traffic control, vehicle-vehicle…
Smart traffic engineering and intelligent transportation services are in increasing demand from governmental authorities to optimize traffic performance and thus reduce energy costs, increase the drivers' safety and comfort, ensure traffic…
Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…
This paper focuses on a real-time vehicle detection and urban traffic behavior analysis system based on Unmanned Aerial Vehicle (UAV) traffic video. By using UAV to collect traffic data and combining the YOLOv8 model and SORT tracking…
HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation…
In this paper, we focus on traffic camera calibration and a visual speed measurement from a single monocular camera, which is an important task of visual traffic surveillance. Existing methods addressing this problem are difficult to…
Realizing unified 3D object detection, including both indoor and outdoor scenes, holds great importance in applications like robot navigation. However, involving various scenarios of data to train models poses challenges due to their…
Feed-forward 3D reconstruction has advanced rapidly, but current models remain unreliable in UAV photogrammetric acquisition. We argue that this failure is caused not only by appearance-domain shift, but also by UAV-specific camera-geometry…
Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…
Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…
This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…
Path planning with strong environmental adaptability plays a crucial role in robotic navigation in unstructured outdoor environments, especially in the case of low-quality location and map information. The path planning ability of a robot…
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning…
Recent advances in cross-view geo-localization (CVGL) methods have shown strong potential for supporting unmanned aerial vehicle (UAV) navigation in GNSS-denied environments. However, existing work predominantly focuses on matching UAV…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…