相关论文: Vision-Based Terrain Relative Navigation on High-A…

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…

In this letter, the localization of terrestrial nodes when unmanned aerial vehicles (UAVs) are used as base stations is investigated. Particularly, a novel localization scenario based on received signal strength (RSS) from terrestrial nodes…

We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…

This paper presents the Visual Optical Recognition Telemetry EXtraction (VORTEX) system for extracting and analyzing drone telemetry data from First Person View (FPV) Uncrewed Aerial System (UAS) footage. VORTEX employs MMOCR, a…

The diffusion of drones presents significant security and safety challenges. Traditional surveillance systems, particularly conventional frame-based cameras, struggle to reliably detect these targets due to their small size, high agility,…

In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…

The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an…

Unmanned Aerial Vehicles (UAVs) especially drones, equipped with vision techniques have become very popular in recent years, with their extensive use in wide range of applications. Many of these applications require use of computer vision…

Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…

This paper presents a framework for extracting georeferenced vehicle trajectories from high-altitude drone imagery, addressing key challenges in urban traffic monitoring and the limitations of traditional ground-based systems. Our approach…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

The E and B experiment (EBEX) is a balloon-borne telescope designed to measure the polarization of the cosmic microwave background with 8' resolution employing a gondola scanning with speeds of order degree per second. In January 2013, EBEX…

Zero-shot object navigation (ZSON) in large-scale outdoor environments faces many challenges; we specifically address a coupled one: long-range targets that reduce to tiny projections and intermittent visibility due to partial or complete…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…

Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This…

Visuals captured by high-flying aerial drones are increasingly used to assess biodiversity and animal population dynamics around the globe. Yet, challenging acquisition scenarios and tiny animal depictions in airborne imagery, despite…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…

Road traffic scene reconstruction from videos has been desirable by road safety regulators, city planners, researchers, and autonomous driving technology developers. However, it is expensive and unnecessary to cover every mile of the road…

Solving image-to-3D from a single view is an ill-posed problem, and current neural reconstruction methods addressing it through diffusion models still rely on scene-specific optimization, constraining their generalization capability. To…