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

UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…

Accurate localization is essential for autonomous vehicles, yet sensor noise and drift over time can lead to significant pose estimation errors, particularly in long-horizon environments. A common strategy for correcting accumulated error…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view…

The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…

Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…

Autonomous landing on mobile platforms is crucial for extending quadcopter operational flexibility, yet conventional methods are often too inefficient for highly dynamic scenarios. The core limitation lies in the prevalent…

The paper describes of the Ryze Tello drone to move autonomously using a basic vision system. The drone's position is determined by identifying AprilTags' position relative to the drone's built-in camera. The accuracy of the drone's…

We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…

Accurately tracking particles and determining their coordinate along the optical axis is a major challenge in optical microscopy, especially when extremely high precision is needed. In this study, we introduce a deep learning approach using…

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…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…

In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…