相关论文: Obstacle Avoidance Using a Monocular Camera

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the…

Autonomous and safe landing is important for unmanned aerial vehicles. We present a monocular and stereo image based method for fast and accurate landing zone evaluation for UAVs in various scenarios. Many existing methods rely on Lidar or…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…

This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by…

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…

There is a risk of collision when multiple UAVs land simultaneously without communication on the same platform. This work accomplishes vision-based autonomous landing and uses a deep-learning-based method to realize collision avoidance…

Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor…

Assessing collision risk is a critical challenge to effective traffic safety management. The deployment of unmanned aerial vehicles (UAVs) to address this issue has shown much promise, given their wide visual field and movement flexibility.…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the…

In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…

Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…