相关论文: Reciprocal Visibility
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…
Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…
Airborne optical sectioning, an effective aerial synthetic aperture imaging technique for revealing artifacts occluded by forests, requires precise measurements of drone poses. In this article we present a new approach for reducing pose…
Previous research has shown that in the presence of foliage occlusion, anomaly detection performs significantly better in integral images resulting from synthetic aperture imaging compared to applying it to conventional aerial images. In…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
In this work, we present a novel learning-based approach to synthesize new views of a light field image. In particular, given the four corner views of a light field, the presented method estimates any in-between view. We use three…
We present a practical and robust deep learning solution for capturing and rendering novel views of complex real world scenes for virtual exploration. Previous approaches either require intractably dense view sampling or provide little to…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
Despite the advantages of all-weather and all-day high-resolution imaging, synthetic aperture radar (SAR) images are much less viewed and used by general people because human vision is not adapted to microwave scattering phenomenon.…
Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…
We present general algorithms to convert scattering data of linear and area detectors recorded in various scattering geometries to reciprocal space coordinates. The presented algorithms work for any goniometer configuration including…
For a plane symmetric object we can find two views - mirrored at the plane of symmetry - that will yield the exact same image of that object. In consequence, having one image of a plane symmetric object and a calibrated camera, we can…
We propose a method for guiding a photographer to rotate her/his smartphone camera to obtain an image that overlaps with another image of the same scene. The other image is taken by another photographer from a different viewpoint. Our…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
The mutual intensity and its equivalent phase-space representations quantify an optical field's state of coherence and are important tools in the study of light propagation and dynamics, but they can only be estimated indirectly from…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in…
This article addresses collaborative 3D map reconstruction using multiple drones. Achieving high-quality reconstruction requires capturing images of keypoints within the target scene from diverse viewing angles, and coverage control offers…