相关论文: Reciprocal Visibility
We demonstrate how efficient autonomous drone swarms can be in detecting and tracking occluded targets in densely forested areas, such as lost people during search and rescue missions. Exploration and optimization of local viewing…
Synthetic apertures find applications in many fields, such as radar, radio telescopes, microscopy, sonar, ultrasound, LiDAR, and optical imaging. They approximate the signal of a single hypothetical wide aperture sensor with either an array…
In this article, we describe and validate the first fully automatic parameter optimization for thermal synthetic aperture visualization. It replaces previous manual exploration of the parameter space, which is time consuming and error…
The past few years have witnessed the burst of drone-based applications where computer vision plays an essential role. However, most public drone-based vision datasets focus on detection and tracking. On the other hand, the performance of…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
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…
Multiple near frontal-parallel planes based depth representation demonstrated impressive results in self-supervised monocular depth estimation (MDE). Whereas, such a representation would cause the discontinuity of the ground as it is…
This paper presents a learning-based approach to synthesize the view from an arbitrary camera position given a sparse set of images. A key challenge for this novel view synthesis arises from the reconstruction process, when the views from…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
An approach to visualize the accessible reciprocal space accounting the goniometer angles limitation and the resolution element in the reciprocal space is presented. The shapes of the accessible reciprocal space region for coplanar and…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
Visibility is a crucial aspect of planning and control of autonomous vehicles (AV), particularly when navigating environments with occlusions. However, when an AV follows a trajectory with multiple occlusions, existing methods evaluate each…
We study a practical yet hasn't been explored problem: how a drone can perceive in an environment from different flight heights. Unlike autonomous driving, where the perception is always conducted from a ground viewpoint, a flying drone may…
In this paper, we consider inverse shape problems coming from diffuse optical tomography and inverse scattering. In both problems, our goal is to reconstruct small volume interior regions from measured data on the exterior surface of an…
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
Drone-captured images present significant challenges in object detection due to varying shooting conditions, which can alter object appearance and shape. Factors such as drone altitude, angle, and weather cause these variations, influencing…
Open set recognition is an emerging research area that aims to simultaneously classify samples from predefined classes and identify the rest as 'unknown'. In this process, one of the key challenges is to reduce the risk of generalizing the…
Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…