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This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm based on the A* strategy has been developed, enabling seamless…
Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their robustness against changes in lighting conditions. However,…
Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
We present a perception constrained visual predictive control (PCVPC) algorithm for quadrotors to enable aggressive flights without using any position information. Our framework leverages nonlinear model predictive control (NMPC) to…
The development of autonomous lightweight MAVs, capable of navigating in unknown indoor environments, is one of the major challenges in robotics. The complexity of this challenge comes from constraints on weight and power consumption of…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…
Depth from defocus (DfD) and stereo matching are two most studied passive depth sensing schemes. The techniques are essentially complementary: DfD can robustly handle repetitive textures that are problematic for stereo matching whereas…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible…
Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…