相关论文: Hierarchical Motion Consistency Constraint for Eff…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…

We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant…

Geometric consistency, i.e. the preservation of neighbourhoods, is a natural and strong prior in 3D shape matching. Geometrically consistent matchings are crucial for many downstream applications, such as texture transfer or statistical…

Several approaches to image stitching use different constraints to estimate the motion model between image pairs. These constraints can be roughly divided into two categories: geometric constraints and photometric constraints. In this…

Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…

Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…

Homography estimation is a basic image alignment method in many applications. It is usually conducted by extracting and matching sparse feature points, which are error-prone in low-light and low-texture images. On the other hand, previous…

The Geo High Resolution Camera (GHRC) aboard ISRO GSAT-29 satellite is a state-of-the-art 6-band Visible and Near Infrared (VNIR) imager in geostationary orbit at 55degE longitude. It provides a ground sampling distance of 55 meters at…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…

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 distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs), and to recover from simultaneous failures of multiple UAVs.…

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

Estimating homography from an image pair is a fundamental problem in image alignment. Unsupervised learning methods have received increasing attention in this field due to their promising performance and label-free training. However,…

Unmanned aerial vehicles (UAV) are expected to replace human in hazardous tasks of surface inspection due to their flexibility in operating space and capability of collecting high quality visual data. In this study, we propose enhanced…

Image matching is a fundamental problem in Computer Vision with direct applications in robotics, remote sensing, and geospatial data analysis. We present an analytical and experimental evaluation of classical local feature-based image…

The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…

This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…