相关论文: Falsification of a Vision-based Automatic Landing …

A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…

Unmanned aerial vehicle (UAV) operations are steadily expanding into many important applications. A key technology for better enabling their commercial use is an onboard sense and avoid (SAA) technology which can detect potential mid-air…

Phishing websites now rely heavily on visual imitation-copied logos, similar layouts, and matching colours-to avoid detection by text- and URL-based systems. This paper presents a deep learning approach that uses webpage screenshots for…

We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…

Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…

Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…

We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…

Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…

In this paper, we introduce a dynamic fiducial marker which can change its appearance according to the spatiotemporal requirements of the visual perception task of a mobile robot using a camera as the sensor. We present a control scheme to…

The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the…

Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a part of challenge 1 of Mohammed Bin Zayed International…

In this paper, we propose an unmanned aerial vehicle (UAV) and bird recognition scheme with signal processing and deep learning for integrated sensing and communications (ISAC) system. We first provide the basic scene of low-altitude…

In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…

Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack of a compact, active-sensing, open-source platform that is…

Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…

This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…

This paper addresses key challenges in the development of autonomous landing systems, focusing on dataset limitations for supervised training of Machine Learning (ML) models for object detection. Our main contributions include: (1)…

The ultimate research goal for unmanned aerial vehicles (UAVs) is to facilitate autonomy of operation. Research in the last decade has highlighted the potential of vision sensing in this regard. Although vital for accomplishment of missions…