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

Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…

This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…

Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…

A vision-based drone-to-drone detection system is crucial for various applications like collision avoidance, countering hostile drones, and search-and-rescue operations. However, detecting drones presents unique challenges, including small…

This work aims to establish an end-to-end system for tracking of physical 3D objects for virtual reality (VR) applications. We focus on training applications requiring real-time tracking of the position of small physical objects and their…

Integrated Communication and Sensing (ICAS) is a key technology that enables sensing functionalities within the next-generation mobile communication (6G). Joint design and optimization of both functionalities could allow coexistence,…

Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…

Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging…

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…

Buried survivor detection in the post-disaster environment by employing radar as sensor is an appealing approach. However, the implementation in the real field is challenging especially for large observation missions. Mounting the radar on…

State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…

The forthcoming era of massive drone delivery deployment in urban environments raises a need to develop reliable control and monitoring systems. While active solutions, i.e., wireless sharing of a real-time location between air traffic…

Drone-based target detection presents inherent challenges, such as the high density and overlap of targets in drone-based images, as well as the blurriness of targets under varying lighting conditions, which complicates identification.…

This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

Image retrieval (IR) has emerged as a promising approach for self-localization in unmanned aerial vehicles (UAVs). However, IR-based methods face several challenges: 1) Pre- and post-processing incur significant computational and storage…