相关论文: A Precision Drone Landing System using Visual and …

Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…

Landing is the most challenging and risky aspect of multirotor drone flight, and only simple landing methods exist for autonomous drones. We explore methods for autonomous drone landing in two scenarios. In the first scenario, we examine…

As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…

Fiducial systems provide a computationally cheap way for mobile robots to estimate the pose of objects, or their own pose, using just a monocular camera. However, the orientation component of the pose of fiducial markers is unreliable,…

Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…

Automatic drone landing is an important step for achieving fully autonomous drones. Although there are many works that leverage GPS, video, wireless signals, and active acoustic sensing to perform precise landing, autonomous drone landing…

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…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this paper, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured…

The LiDAR fiducial tag, akin to the well-known AprilTag used in camera applications, serves as a convenient resource to impart artificial features to the LiDAR sensor, facilitating robotics applications. Unfortunately, the existing LiDAR…

Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…

Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…

Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…

This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a…

Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…

This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to show its potential for reliable takeoff and landing…

LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…

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…

Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…