相关论文: Monocular Imaging-based Autonomous Tracking for Lo…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…
Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…
LiDAR-based 3D single object tracking (3D SOT) is a critical task in robotics and autonomous systems. Existing methods typically follow frame-wise motion estimation or a sequence-based paradigm. However, the two-frame methods are efficient…
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…
The primary purpose of this study is to investigate the system modeling of a nanoquadcopter as well as designing position and trajectory control algorithms, with the ultimate goal of testing the system both in simulation and on a real…
Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…
Autonomous drone racing represents a major frontier in robotics research. It requires an Artificial Intelligence (AI) that can run on board light-weight flying robots under tight resource and time constraints, while pushing the physical…
Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…
Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…
Accurate inter-vehicle distance estimation is a cornerstone of advanced driver assistance systems and autonomous driving. While LiDAR and radar provide high precision, their cost prohibits widespread adoption in mass-market vehicles.…
Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…