相关论文: JointLoc: A Real-time Visual Localization Framewor…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in its operating environment. This is a…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
The task of UAV-view geo-localization is to estimate the localization of a query satellite/drone image by matching it against a reference dataset consisting of drone/satellite images. Though tremendous strides have been made in feature…
Deployment of unmanned aerial vehicles (UAVs) as aerial base stations can deliver a fast and flexible solution for serving varying traffic demand. In order to adequately benefit of UAVs deployment, their efficient placement is of utmost…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
Retrieving relevant multimedia content is one of the main problems in a world that is increasingly data-driven. With the proliferation of drones, high quality aerial footage is now available to a wide audience for the first time.…
In this paper, we propose a ground-based monocular UAV localisation system that detects and localises an LED marker attached to the underside of a UAV. Our system removes the need for extensive infrastructure and calibration unlike existing…
Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy positioning and control algorithms of the UAV are significantly…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…