相关论文: Vision-based Target Pose Estimation with Multiple …

We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…

Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…

Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…

Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

The rapid advancements in unmanned aerial vehicles (UAVs) have unlocked numerous applications, including environmental monitoring, disaster response, and agricultural surveying. Enhancing the collective behavior of multiple decentralized…

Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…

Recently, deep learning technology have been extensively used in the field of image recognition. However, its main application is the recognition and detection of ordinary pictures and common scenes. It is challenging to effectively and…

A recent approach for object detection and human pose estimation is to regress bounding boxes or human keypoints from a central point on the object or person. While this center-point regression is simple and efficient, we argue that the…

We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…

Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…

Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangulate pose of the object from multiple camera views.…

Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…

Automatic detection of flying drones is a key issue where its presence, especially if unauthorized, can create risky situations or compromise security. Here, we design and evaluate a multi-sensor drone detection system. In conjunction with…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

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…

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…