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An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…

Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…

In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…

With the increasing safety validation requirements for the release of a self-driving car, alternative approaches, such as simulation-based testing, are emerging in addition to conventional real-world testing. In order to rely on virtual…

The emerging global market for unmanned aerial vehicle (UAV) services is anticipated to reach USD 58.4 billion by 2026, spurring significant efforts to safely integrate routine UAV operations into the national airspace in a manner that they…

This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…

Time of flight based Non-line-of-sight (NLOS) imaging approaches require precise calibration of illumination and detector positions on the visible scene to produce reasonable results. If this calibration error is sufficiently high,…

We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…

Face anti-spoofing (FAS) is a vital component of remote biometric authentication systems based on facial recognition, increasingly used across web-based applications. Among emerging threats, video injection attacks -- facilitated by…

We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

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…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…

The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

Unmanned aerial vehicles (UAVs) are increasingly employed in diverse applications such as land surveying, material transport, and environmental monitoring. Following missions like data collection or inspection, UAVs must land safely at…