相关论文: Flight Dynamics-based Recovery of a UAV Trajectory…

Road traffic scene reconstruction from videos has been desirable by road safety regulators, city planners, researchers, and autonomous driving technology developers. However, it is expensive and unnecessary to cover every mile of the road…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

Existing deep models predict 2D and 3D kinematic poses from video that are approximately accurate, but contain visible errors that violate physical constraints, such as feet penetrating the ground and bodies leaning at extreme angles. In…

Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

How can we effectively engineer a computer vision system that is able to interpret videos from unconstrained mobility platforms like UAVs? One promising option is to make use of image restoration and enhancement algorithms from the area of…

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital…

In this paper we propose an automatic trajectory data reconciliation to correct common errors in vision-based vehicle trajectory data. Given "raw" vehicle detection and tracking information from automatic video processing algorithms, we…

The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…

Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and…

In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with…

Motivated by the theoretical interest in reconstructing long 3D trajectories of individual birds in large flocks, we developed CoMo, a co-moving camera system of two synchronized high speed cameras coupled with rotational stages, which…

The estimation of the orientation of an observed vehicle relative to an Autonomous Vehicle (AV) from monocular camera data is an important building block in estimating its 6 DoF pose. Current Deep Learning based solutions for placing a 3D…

The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…

With explosively increasing demands for unmanned aerial vehicle (UAV) applications, reliable link acquisition for serving UAVs is required. Considering the dynamic characteristics of UAV, it is hugely challenging to persist a reliable link…

Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the…