相关论文: Efficient Optical flow and Stereo Vision for Veloc…
Nano quadcopters are small, agile, and cheap platforms that are well suited for deployment in narrow, cluttered environments. Due to their limited payload, these vehicles are highly constrained in processing power, rendering conventional…
Learning depth and optical flow via deep neural networks by watching videos has made significant progress recently. In this paper, we jointly solve the two tasks by exploiting the underlying geometric rules within stereo videos.…
Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for…
Optical flow and disparity are two informative visual features for autonomous driving perception. They have been used for a variety of applications, such as obstacle and lane detection. The concept of "U-V-Disparity" has been widely…
Autonomous tree pruning with unmanned aerial vehicles (UAVs) is a safety-critical real-world task: the onboard perception system must estimate the metric distance from a cutting tool to thin tree branches in real time so that the UAV can…
Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…
Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…
We present an energy-efficient anti-UAV system that integrates frame-based and event-driven object tracking to enable reliable detection of small and fast-moving drones. The system reconstructs binary event frames using run-length encoding,…
Event cameras capture changes of illumination in the observed scene rather than accumulating light to create images. Thus, they allow for applications under high-speed motion and complex lighting conditions, where traditional framebased…
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).…
Estimating depth from stereo vision cameras, i.e., "depth from stereo", is critical to emerging intelligent applications deployed in energy- and performance-constrained devices, such as augmented reality headsets and mobile autonomous…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia…
Radar has shown strong potential for robust perception in autonomous driving; however, raw radar images are frequently degraded by noise and "ghost" artifacts, making object detection based solely on semantic features highly challenging. To…
With FaSS-MVS, we present an approach for fast multi-view stereo with surface-aware Semi-Global Matching that allows for rapid depth and normal map estimation from monocular aerial video data captured by UAVs. The data estimated by…
We present an algorithm (SOFAS) to estimate the optical flow of events generated by a dynamic vision sensor (DVS). Where traditional cameras produce frames at a fixed rate, DVSs produce asynchronous events in response to intensity changes…
Autonomous drone racing (ADR) demands state estimation that is simultaneously computationally efficient and resilient to the perceptual degradation experienced during extreme velocity and maneuvers. Traditional frameworks typically rely on…
Palm-sized autonomous nano-drones, i.e., sub-50g in weight, recently entered the drone racing scenario, where they are tasked to avoid obstacles and navigate as fast as possible through gates. However, in contrast with their bigger…
Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…