相关论文: Mapping Areas using Computer Vision Algorithms and…

This paper reports a visible and thermal drone monitoring system that integrates deep-learning-based detection and tracking modules. The biggest challenge in adopting deep learning methods for drone detection is the paucity of training…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…

This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target…

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…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

Unmanned Aerial Vehicles (UAVs) or drones are increasingly used for urban applications like traffic monitoring and construction surveys. Autonomous navigation allows drones to visit waypoints and accomplish activities as part of their…

Mapping and localization, preferably from a small number of observations, are fundamental tasks in robotics. We address these tasks by combining spatial structure (differentiable mapping) and end-to-end learning in a novel neural network…

This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…

Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…

The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…

Traditional image stitching algorithms use transforms such as homography to combine different views of a scene. They usually work well when the scene is planar or when the camera is only rotated, keeping its position static. This severely…

This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…

Multi-Target Multi-Camera Tracking (MTMC) is an essential computer vision task for automating large-scale surveillance. With camera calibration and depth information, the targets in the scene can be projected into 3D space, offering…

We present CineMPC, a complete cinematographic system that autonomously controls a drone to film multiple targets recording user-specified aesthetic objectives. Existing solutions in autonomous cinematography control only the camera…

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…

The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…

High-definition maps (HD maps) play a crucial role in the development, safety validation, and operation of highly automated vehicles. Efficiently collecting up-to-date sensor data from road segments and obtaining accurate maps from these…