相关论文: Adaptive Sampling-based Particle Filter for Visual…
Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…
Dense panoptic prediction is a key ingredient in many existing applications such as autonomous driving, automated warehouses or remote sensing. Many of these applications require fast inference over large input resolutions on affordable or…
Lightweight and effective models are essential for devices with limited resources, such as intelligent vehicles. Structured pruning offers a promising approach to model compression and efficiency enhancement. However, existing methods often…
3D phenotyping of plants plays a crucial role for understanding plant growth, yield prediction, and disease control. We present a pipeline capable of generating high-quality 3D reconstructions of individual agricultural plants. To acquire…
The paper describes an open source computer vision-based hardware structure and software algorithm, which analyzes layer-wise the 3-D printing processes, tracks printing errors, and generates appropriate printer actions to improve…
Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…
We present a novel adaptive machine-learning based approach for reconstructing three-dimensional (3D) crystals from coherent diffraction imaging (CDI). We represent the crystals using spherical harmonics (SH) and generate corresponding…
In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
This research presents a novel application of computer vision (CV) and deep learning methods for real-time sea state recognition, aiming to contribute to improving the operational safety and energy efficiency of seagoing vessels, key…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…
Unmanned aerial vehicle (UAV)-based tracking is attracting increasing attention and developing rapidly in applications such as agriculture, aviation, navigation, transportation and public security. Recently, discriminative correlation…
In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with…
Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper presents the design, fabrication, and…
Drone-view geo-localization (DVGL) aims to match images of the same geographic location captured from drone and satellite perspectives. Despite recent advances, DVGL remains challenging due to significant appearance changes and spatial…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Biofouling$\unicode{x2013}$communities of organisms that grow on hard surfaces immersed in water$\unicode{x2013}$provides a pathway for the spread of invasive marine species and diseases. To address this risk, international vessels are…
To achieve higher coding efficiency, Versatile Video Coding (VVC) includes several novel components, but at the expense of increasing decoder computational complexity. These technologies at a low bit rate often create contouring and ringing…
This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…