相关论文: Monocular and Stereo Cues for Landing Zone Evaluat…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…
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…
Using a neural network architecture for depth map inference from monocular stabilized videos with application to UAV videos in rigid scenes, we propose a multi-range architecture for unconstrained UAV flight, leveraging flight data from…
Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…
Vision-based pose estimation of Unmanned Aerial Vehicles (UAV) in unknown environments is a rapidly growing research area in the field of robot vision. The task becomes more complex when the only available sensor is a static single camera…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Vision-based metric distance and area measurement remains challenging in large-scale outdoor environments due to long-range sensing, camera zoom, and unstable imaging conditions. This work studies planar metric measurement in a real-world…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for…
VIO has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when observable landmarks in the scene lie far away from…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…
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…
This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…
Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…