相关论文: Newton-PnP: Real-time Visual Navigation for Autono…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…

This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…

Visual perspective taking (VPT) is the ability to perceive and reason about the perspectives of others. It is an essential feature of human intelligence, which develops over the first decade of life and requires an ability to process the 3D…

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…

Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gate's pose. Due to the sim-to-real gap,…

This paper investigates the zero-shot object goal visual navigation problem. In the object goal visual navigation task, the agent needs to locate navigation targets from its egocentric visual input. "Zero-shot" means that the target the…

In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras…

Monocular 3D object detection is an important task in autonomous driving. It can be easily intractable where there exists ego-car pose change w.r.t. ground plane. This is common due to the slight fluctuation of road smoothness and slope.…

Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms.…

The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on…

We present To The Point (TTP), a method for reconstructing 3D objects from a single image using 2D to 3D correspondences learned from weak supervision. We recover a 3D shape from a 2D image by first regressing the 2D positions corresponding…

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…

Drone detection is the problem of finding the smallest rectangle that encloses the drone(s) in a video sequence. In this study, we propose a solution using an end-to-end object detection model based on convolutional neural networks. To…