相关论文: Real-Time Dense Stereo Embedded in A UAV for Road …

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

Stereo is a prominent technique to infer dense depth maps from images, and deep learning further pushed forward the state-of-the-art, making end-to-end architectures unrivaled when enough data is available for training. However, deep…

The detection of road and free space remains challenging for non-flat plane, especially with the varying latitudinal and longitudinal slope or in the case of multi-ground plane. In this paper, we propose a framework of the ground plane…

A smart navigation system (an Electronic Travel Aid) based on an object detection mechanism has been designed to detect the presence of obstacles that immediately impede the path, by means of real time video processing. The algorithm can be…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Object detection on Unmanned Aerial Vehicles (UAVs) is still a challenging task. The recordings are mostly sparse and contain only small objects. In this work, we propose a simple tiling method that improves the detection capability in the…

Pothole detection is one of the most important tasks for road maintenance. Computer vision approaches are generally based on either 2D road image analysis or 3D road surface modeling. However, these two categories are always used…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

The Autonomy of Unmanned Aerial Vehicles (UAVs) in indoor environments poses significant challenges due to the lack of reliable GPS signals in enclosed spaces such as warehouses, factories, and indoor facilities. Micro Aerial Vehicles…

Deep learning-based multi-view stereo has emerged as a powerful paradigm for reconstructing the complete geometrically-detailed objects from multi-views. Most of the existing approaches only estimate the pixel-wise depth value by minimizing…

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…

Unmanned Aerial Vehicles (UAVs) are gaining popularity in civil and military applications. However, uncontrolled access to restricted areas threatens privacy and security. Thus, prevention and detection of UAVs are pivotal to guarantee…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

One of the most successful approaches in Multi-View Stereo estimates a depth map and a normal map for each view via PatchMatch-based optimization and fuses them into a consistent 3D points cloud. This approach relies on photo-consistency to…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their robustness against changes in lighting conditions. However,…

Visual inspection is the predominant technique for evaluating the condition of civil infrastructure. The recent advances in unmanned aerial vehicles (UAVs) and artificial intelligence have made the visual inspections faster, safer, and more…

Object detection in unmanned aerial vehicle (UAV) imagery presents significant challenges. Issues such as densely packed small objects, scale variations, and occlusion are commonplace. This paper introduces RT-DETR++, which enhances the…

The importance of depth perception in the interactions that humans have within their nearby space is a well established fact. Consequently, it is also well known that the possibility of exploiting good stereo information would ease and, in…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…