相关论文: LSVL: Large-scale season-invariant visual localiza…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…
UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation…
Localization of a target object has been performed conventionally using multiple terrestrial reference nodes. This paradigm is recently shifted towards utilization of unmanned aerial vehicles (UAVs) for locating target objects. Since…
The use of aerial anchors for localizing terrestrial nodes has recently been recognized as a cost-effective, swift and flexible solution for better localization accuracy, providing localization services when the GPS is jammed or satellite…
Ground to aerial matching is a crucial and challenging task in outdoor robotics, particularly when GPS is absent or unreliable. Structures like buildings or large dense forests create interference, requiring GNSS replacements for global…
The problem of reliably detecting and geolocating objects of different classes in soft real-time is essential in many application areas, such as Search and Rescue performed using Unmanned Aerial Vehicles (UAVs). This research addresses the…
Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…
Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…
Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…
Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…
Cellular-based Unmanned Aerial Vehicle (UAV) systems are a promising paradigm to provide reliable and fast Beyond Visual Line of Sight (BVLoS) communication services for UAV operations. However, such systems are facing a serious GPS…
To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…
Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent, as agents often have no prior knowledge about the…