相关论文: Drones Help Drones: A Collaborative Framework for …

Adaptive teaming-the capability of agents to effectively collaborate with unfamiliar teammates without prior coordination-is widely explored in virtual video games but overlooked in real-world multi-robot contexts. Yet, such adaptive…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

Millimeter wave (mmWave) and terahertz (THz) drones have the potential to enable several futuristic applications such as coverage extension, enhanced security monitoring, and disaster management. However, these drones need to deploy large…

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

Forecasting long-term human motion is a challenging task due to the non-linearity, multi-modality and inherent uncertainty in future trajectories. The underlying scene and past motion of agents can provide useful cues to predict their…

This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…

Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…

We present BEVCon, a simple yet effective contrastive learning framework designed to improve Bird's Eye View (BEV) perception in autonomous driving. BEV perception offers a top-down-view representation of the surrounding environment, making…

This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…

We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

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…

Automatic detection of flying drones is a key issue where its presence, especially if unauthorized, can create risky situations or compromise security. Here, we design and evaluate a multi-sensor drone detection system. In conjunction with…

Recently, data-driven trajectory prediction methods have achieved remarkable results, significantly advancing the development of autonomous driving. However, the instability of single-vehicle perception introduces certain limitations to…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…