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Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…
We present Dur360BEV, a novel spherical camera autonomous driving dataset equipped with a high-resolution 128-channel 3D LiDAR and a RTK-refined GNSS/INS system, along with a benchmark architecture designed to generate Bird-Eye-View (BEV)…
Aerial image analysis at a semantic level is important in many applications with strong potential impact in industry and consumer use, such as automated mapping, urban planning, real estate and environment monitoring, or disaster relief.…
Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…
Unmanned aerial vehicle (UAV) assisted communication is a revolutionary technology that has been recently presented as a potential candidate for beyond fifth-generation millimeter wave (mmWave) communications. Although mmWaves can offer a…
This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…
3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…
Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…
Satellites are capable of capturing high-resolution videos. It makes vehicle perception from satellite become possible. Compared to street surveillance, drive recorder or other equipments, satellite videos provide a much broader city-scale…
In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly…
Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community…
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…