相关论文: Hierarchical Motion Consistency Constraint for Eff…

Absolute localization, aiming to determine an agent's location with respect to a global reference, is crucial for unmanned aerial vehicles (UAVs) in various applications, but it becomes challenging when global navigation satellite system…

Feature matching dominates the time costs in structure from motion (SfM). The primary contribution of this study is a GPU data schedule algorithm for efficient feature matching of Unmanned aerial vehicle (UAV) images. The core idea is to…

In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…

The primary contribution of this paper is an efficient Structure from Motion (SfM) solution for oblique unmanned aerial vehicle (UAV) images. First, an algorithm, considering spatial relationship constrains between image footprints, is…

This paper proposes a novel task for UAV scene understanding - UAV Scene Change Captioning (UAV-SCC) - which aims to generate natural language descriptions of semantic changes in dynamic aerial imagery captured from a movable viewpoint.…

Aerial image registration or matching is a geometric process of aligning two aerial images captured in different environments. Estimating the precise transformation parameters is hindered by various environments such as time, weather, and…

Estimating the homography matrix between images captured under radically different camera poses and zoom factors is a complex challenge. Traditional methods rely on the Random Sample Consensus (RANSAC) algorithm, which requires pairs of…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

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…

Real-time processing of UAV imagery is crucial for applications requiring urgent geospatial information, such as disaster response, where rapid decision-making and accurate spatial data are essential. However, processing high-resolution…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

Geometric constraints between feature matches are critical in 3D point cloud registration problems. Existing approaches typically model unordered matches as a consistency graph and sample consistent matches to generate hypotheses. However,…

This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite images. Existing methods heavily rely on the supervision of…

Incremental Structure from Motion (ISfM) has been widely used for UAV image orientation. Its efficiency, however, decreases dramatically due to the sequential constraint. Although the divide-and-conquer strategy has been utilized for…

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…