相关论文: Visual Model-predictive Localization for Computati…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…
As airborne vehicles are becoming more autonomous and ubiquitous, it has become vital to develop the capability to detect the objects in their surroundings. This paper attempts to address the problem of drones detection from other flying…
We present an energy-efficient anti-UAV system that integrates frame-based and event-driven object tracking to enable reliable detection of small and fast-moving drones. The system reconstructs binary event frames using run-length encoding,…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
In current visual object tracking system, the CPU or GPU-based visual object tracking systems have high computational cost and consume a prohibitive amount of power. Therefore, in this paper, to reduce the computational burden of the…
This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…
In this work, we present a system that enables delivery drones to autonomously navigate and deliver packages at various locations around a house according to the desire of the recipient and without the need for any external markers as…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
Autonomous racing provides the opportunity to test safety-critical perception pipelines at their limit. This paper describes the practical challenges and solutions to applying state-of-the-art computer vision algorithms to build a…
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…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
An autonomous drone flying near obstacles needs to be able to detect and avoid the obstacles or it will collide with them. In prior work, drones can detect and avoid walls using data from camera, ultrasonic or laser sensors mounted either…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…