相关论文: Distributed Variable-Baseline Stereo SLAM from two…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

UAV action recognition faces a deployment shift that standard benchmarks often obscure: a model trained on UAV footage captured from low-depression viewpoints may be required to recognize the same action classes from high-depression…

The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision system embedded in an unmanned aerial vehicle (UAV). The…

We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…

The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…

Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite images. Existing methods heavily rely on the supervision of…

The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…

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…

This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…

3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

Deployment of unmanned aerial vehicles (UAVs) performing as flying aerial base stations (BSs) has a great potential of adaptively serving ground users during temporary events, such as major disasters and massive events. However, planning an…

Unmanned Aerial Vehicles (UAVs) rely on satellite systems for stable positioning. However, due to limited satellite coverage or communication disruptions, UAVs may lose signals from satellite-based positioning systems. In such situations,…

This paper tackles the optimization of the point spread function (PSF) of unmanned aerial vehicle (UAV)-borne multiple-input multiple-output (MIMO) synthetic aperture radar (SAR) tomography systems. A swarm of UAV-borne SAR systems is…

Cellular-connected unmanned aerial vehicles (UAVs) represent a promising technology for extending the coverage of 5G and 6G networks in a cost-effective manner. Additionally, Massive multiple-input multiple-output (MIMO) serves as an…