相关论文: Pushbroom Stereo for High-Speed Navigation in Clut…

Hyperspectral cameras have recently been miniaturized for operation on lightweight airborne platforms such as UAV or small aircraft. Unlike frame cameras (RGB or Multispectral), many hyperspectral sensors use a linear array or 'push-broom'…

We present an overview of the methodology used to build a new stereo vision solution that is suitable for System on Chip. This new solution was developed to bring computer vision capability to embedded devices that live in a power…

Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data…

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…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

We introduce Stereo Anywhere, a novel stereo-matching framework that combines geometric constraints with robust priors from monocular depth Vision Foundation Models (VFMs). By elegantly coupling these complementary worlds through a…

Distance estimation plays an important role for path planning and collision avoidance of swarm UAVs. However, the lack of annotated data seriously hinders the related studies. In this work, we build and present a UAVDE dataset for UAV…

Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…

Nano-size drones hold enormous potential to explore unknown and complex environments. Their small size makes them agile and safe for operation close to humans and allows them to navigate through narrow spaces. However, their tiny size and…

The integration of sensing capabilities into 5G New Radio (5G NR) networks offers an opportunity to enable the detection of airborne objects without the need for dedicated radars. This paper investigates the feasibility of using…

Maritime object detection is critical for the safe navigation of unmanned surface vessels (USVs), requiring accurate recognition of obstacles from small buoys to large vessels. Real-time detection is challenging due to long distances, small…

We describe the design and 3D sensing performance of an omnidirectional stereo-vision system (omnistereo) as applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo model employs a monocular camera that is co-axially aligned with a…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…

This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…

Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…

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…

We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…

High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…

While iterative stereo matching achieves high accuracy, its dependence on Recurrent Neural Networks (RNN) hinders edge deployment, a challenge underexplored in existing researches. We analyze iterative refinement and reveal that disparity…