相关论文: Finding a Landing Site on an Urban Area: A Multi-R…

State-of-the-art methods for counting people in crowded scenes rely on deep networks to estimate crowd density in the image plane. While useful for this purpose, this image-plane density has no immediate physical meaning because it is…

Accurate people localisation using drones is crucial for effective crowd management, not only during massive events and public gatherings but also for monitoring daily urban crowd flow. Traditional methods for tiny object localisation using…

The past few years have witnessed the burst of drone-based applications where computer vision plays an essential role. However, most public drone-based vision datasets focus on detection and tracking. On the other hand, the performance of…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…

We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…

A remaining challenge in multirotor drone flight is the autonomous identification of viable landing sites in unstructured environments. One approach to solve this problem is to create lightweight, appearance-based terrain classifiers that…

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing…

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…

As airborne vehicles are becoming more autonomous and ubiquitous, it has become vital to develop the capability to detect the objects in their surroundings. This paper attempts to address the problem of drones detection from other flying…

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…

Safe autonomous landing in urban cities is a necessity for the growing Unmanned Aircraft Systems (UAS) industry. In urgent situations, building rooftops, particularly flat rooftops, can provide local safe landing zones for small UAS. This…

In this paper, a simple technique for Unmanned Aerial Vehicles (UAVs) potential landing site detection using terrain information through identification of flat areas, is presented. The algorithm utilizes digital elevation models (DEM) that…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…

Traditional search and rescue methods in wilderness areas can be time-consuming and have limited coverage. Drones offer a faster and more flexible solution, but optimizing their search paths is crucial. This paper explores the use of deep…

Existing counting methods often adopt regression-based approaches and cannot precisely localize the target objects, which hinders the further analysis (e.g., high-level understanding and fine-grained classification). In addition, most of…

Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…