相关论文: Monocular visual autonomous landing system for qua…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea…
This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average…
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…
Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangulate pose of the object from multiple camera views.…
Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…
We describe the design and 3D sensing performance of an omnidirectional stereo-vision system (omnistereo) as applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo model employs a monocular camera that is co-axially aligned with a…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other…
This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller that relies on sensing information from two on-board…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
Hazard detection and avoidance is a key technology for future robotic small body sample return and lander missions. Current state-of-the-practice methods rely on high-fidelity, a priori terrain maps, which require extensive…