相关论文: A Vision-based Autonomous Perching Approach for Na…

Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…

This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous, and elaborate at height. Today, heavy mobile ground robots…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

This paper introduces a novel perception framework that has the ability to identify and track objects in autonomous vehicle's field of view. The proposed algorithms don't require any training for achieving this goal. The framework makes use…

Millions of vehicles are transported every year, tightly parked in vessels or boats. To reduce the risks of associated safety issues like fires, knowing the location of vehicles is essential, since different vehicles may need different…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…

This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling,…