相关论文: EVDodgeNet: Deep Dynamic Obstacle Dodging with Eve…

Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of…

In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…

Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…

With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…

The need for automated real-time visual systems in applications such as smart camera surveillance, smart environments, and drones necessitates the improvement of methods for visual active monitoring and control. Traditionally, the active…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

Event cameras are novel bio-inspired sensors that capture motion dynamics with much higher temporal resolution than traditional cameras, since pixels react asynchronously to brightness changes. They are therefore better suited for tasks…

Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…

Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras,…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…

Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

Recovering sharp video sequence from a motion-blurred image is highly ill-posed due to the significant loss of motion information in the blurring process. For event-based cameras, however, fast motion can be captured as events at high time…

Event cameras encode visual information with high temporal precision, low data-rate, and high-dynamic range. Thanks to these characteristics, event cameras are particularly suited for scenarios with high motion, challenging lighting…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…