相关论文: MorphEyes: Variable Baseline Stereo For Quadrotor …

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

This paper describes a multimodal vision sensor that integrates three types of cameras, including a stereo camera, a polarization camera and a panoramic camera. Each sensor provides a specific dimension of information: the stereo camera…

Tools for quadrotor trajectory design have enabled single videographers to create complex aerial video shots that previously required dedicated hardware and several operators. We build on this prior work by studying film-maker's working…

VIO has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when observable landmarks in the scene lie far away from…

Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…

Binocular stereo vision is an important branch of machine vision, which imitates the human eye and matches the left and right images captured by the camera based on epipolar constraints. The matched disparity map can be calculated according…

Computational stereo has reached a high level of accuracy, but degrades in the presence of occlusions, repeated textures, and correspondence errors along edges. We present a novel approach based on neural networks for depth estimation that…

High-accuracy per-pixel depth is vital for computational photography, so smartphones now have multimodal camera systems with time-of-flight (ToF) depth sensors and multiple color cameras. However, producing accurate high-resolution depth is…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

Tremendous progress has been made in deep stereo matching to excel on benchmark datasets through per-domain fine-tuning. However, achieving strong zero-shot generalization - a hallmark of foundation models in other computer vision tasks -…

Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…

Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…

Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…