相关论文: FlightGoggles: A Modular Framework for Photorealis…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework.…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
Camera sensor simulation serves as a critical role for autonomous driving (AD), e.g. evaluating vision-based AD algorithms. While existing approaches have leveraged generative models for controllable image/video generation, they remain…
Using head-mounted Virtual Reality (VR) displays to simulate driving is critical to studying driving behavior and designing driver assistance systems. But existing VR driving simulators are often limited to tracking only eye movements. The…
The ability of resource-constrained biological systems such as fruitflies to perform complex and high-speed maneuvers in cluttered environments has been one of the prime sources of inspiration for developing vision-based autonomous systems.…
Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…
Understanding the world in first-person view is fundamental in Augmented Reality (AR). This immersive perspective brings dramatic visual changes and unique challenges compared to third-person views. Synthetic data has empowered…
Recent advances in world models have demonstrated strong capabilities in simulating physical reality, making them an increasingly important foundation for embodied intelligence. For UAV agents in particular, accurate prediction of complex…
Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…
Photogrammetry is a science dealing with obtaining reliable information about physical objects using their imagery description. Recent advancements in the development of Virtual Reality (VR) can help to unlock the full potential offered by…
Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive or long-tailed scenarios, such as objects with uncommon…
Astigmatic Defocus Sensor is a very simple and easy technique for measuring the amount of defocus (deviation from the focal plane) present in an optical beam. The approach uses a cylindrical lens to focus the beam and the measure of the…
Whereas a very large number of sensors are available in the automotive field, currently just a few of them, mostly proprioceptive ones, are used in telematics, automotive insurance, and mobility safety research. In this paper, we show that…
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…