相关论文: Obstacle Avoidance Using a Monocular Camera
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Collision avoidance is a key factor in enabling the integration of unmanned aerial vehicle into real life use, whether it is in military or civil application. For a long time there have been a large number of works to address this problem;…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Recently, researchers have been exploring various ways to improve the effectiveness and efficiency of autonomous vehicles by researching new methods, especially for indoor scenarios. Autonomous Vehicles in indoor navigation systems possess…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
This paper presents VisLanding, a monocular 3D perception-based framework for safe UAV (Unmanned Aerial Vehicle) landing. Addressing the core challenge of autonomous UAV landing in complex and unknown environments, this study innovatively…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
We focus on the problem of detecting traffic events in a surveillance scenario, including the detection of both vehicle actions and traffic collisions. Existing event detection systems are mostly learning-based and have achieved convincing…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
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…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…