相关论文: Detection-Aware Trajectory Generation for a Drone …

Dependable visual drone detection is crucial for the secure integration of drones into the airspace. However, drone detection accuracy is significantly affected by domain shifts due to environmental changes, varied points of view, and…

Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked.…

Drone detection is the problem of finding the smallest rectangle that encloses the drone(s) in a video sequence. In this study, we propose a solution using an end-to-end object detection model based on convolutional neural networks. To…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…

This paper introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

We propose a novel approach to synthesizing images that are effective for training object detectors. Starting from a small set of real images, our algorithm estimates the rendering parameters required to synthesize similar images given a…

We provide a complete pipeline for the detection of patterns of interest in an image. In our approach, the patterns are assumed to be adequately modeled by a known template, and are located at unknown positions and orientations that we aim…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…

Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…

We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…

Trajectory planning is a fundamental task on various autonomous driving platforms, such as social robotics and self-driving cars. Many trajectory planning algorithms use a reference curve based Frenet frame with time to reduce the planning…

Performing striking aerobatic flight in complex environments demands manual designs of key maneuvers in advance, which is intricate and time-consuming as the horizon of the trajectory performed becomes long. This paper presents a novel…

Multi-object tracking (MOT) is a critical technology in computer vision, designed to detect multiple targets in video sequences and assign each target a unique ID per frame. Existed MOT methods excel at accurately tracking multiple objects…

Moving target detection plays an important role in computer vision. However, traditional algorithms such as frame difference and optical flow usually suffer from low accuracy or heavy computation. Recent algorithms such as deep…

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…

Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework…

Drone-based crowd monitoring is the key technology for applications in surveillance, public safety, and event management. However, maintaining tracking continuity and consistency remains a significant challenge. Traditional…

Real-time tracking of small unmanned aerial vehicles (UAVs) on edge devices faces a fundamental resolution-speed conflict. Downsampling high-resolution imagery to standard detector input sizes causes small target features to collapse below…