相关论文: Hierarchical Motion Consistency Constraint for Eff…

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…

Correspondence-based point cloud registration (PCR) plays a key role in robotics and computer vision. However, challenges like sensor noises, object occlusions, and descriptor limitations inevitably result in numerous outliers. RANSAC…

Object detection in unmanned aerial vehicle (UAV) remote sensing images poses significant challenges due to unstable image quality, small object sizes, complex backgrounds, and environmental occlusions. Small objects, in particular, occupy…

This paper studies the UAV-enabled integrated sensing and communication (ISAC), in which UAVs are dispatched as aerial dual-functional access points (APs) for efficient ISAC. In particular, we consider a scenario with one UAV-AP equipped…

Heat Equation Driven Area Coverage (HEDAC) is a state-of-the-art multi-agent ergodic motion control guided by a gradient of a potential field. A finite element method is hereby implemented to obtain a solution of the Helmholtz partial…

We consider the problem of estimating human pose and trajectory by an aerial robot with a monocular camera in near real time. We present a preliminary solution whose distinguishing feature is a dynamic classifier selection architecture. In…

In this paper, we present a case study that performs an unmanned aerial vehicle (UAV) based fine-scale 3D change detection and monitoring of progressive collapse performance of a building during a demolition event. Multi-temporal oblique…

Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…

In recent years, the technology in visual-inertial odometry (VIO) has matured considerably and has been widely used in many applications. However, we still encounter challenges when applying VIO to a micro air vehicle (MAV) equipped with a…

This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…

Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…

Over the past decade, there has been a significant increase in the use of Unmanned Aerial Vehicles (UAVs) to support a wide variety of missions, such as remote surveillance, vehicle tracking, and object detection. For problems involving…

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…

Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…

Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…

This paper proposes a deep learning based solution for multi-modal image alignment regarding UAV-taken images. Many recently proposed state-of-the-art alignment techniques rely on using Lucas-Kanade (LK) based solutions for a successful…

In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we exploit the…

This paper proposes a geometric interpretation of the angles and scales which the orientation- and scale-covariant feature detectors, e.g. SIFT, provide. Two new general constraints are derived on the scales and rotations which can be used…