相关论文: A Precision Drone Landing System using Visual and …
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…
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…
Autonomous navigation by drones using onboard sensors, combined with deep learning and computer vision algorithms, is impacting a number of domains. We examine the use of drones to autonomously follow and assist Visually Impaired People…
Vision-based drone-to-drone detection has attracted increasing attention due to its importance in numerous tasks such as vision-based swarming, aerial see-and-avoid, and malicious drone detection. However, existing methods often encounter…
Drone detection is a challenging object detection task where visibility conditions and quality of the images may be unfavorable, and detections might become difficult due to complex backgrounds, small visible objects, and hard to…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
Point cloud registration is a prerequisite for many applications in computer vision and robotics. Most existing methods focus on pairwise registration of two point clouds with high overlap. Although there have been some methods for low…
This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighting conditions. The proposed system, application-tailored for…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
A remaining challenge in multirotor drone flight is the autonomous identification of viable landing sites in unstructured environments. One approach to solve this problem is to create lightweight, appearance-based terrain classifiers that…
In this work, we present and evaluate a method to perform real-time multiple drone detection and three-dimensional localization using state-of-the-art tiny-YOLOv4 object detection algorithm and stereo triangulation. Our computer vision…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…