相关论文: Clustering-based Learning for UAV Tracking and Pos…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Maintaining high efficiency and high precision are two fundamental challenges in UAV tracking due to the constraints of computing resources, battery capacity, and UAV maximum load. Discriminative correlation filters (DCF)-based trackers can…

Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…

Single object tracking in point clouds has been attracting more and more attention owing to the presence of LiDAR sensors in 3D vision. However, the existing methods based on deep neural networks focus mainly on training different models…

We propose a new method for fusing a LIDAR point cloud and camera-captured images in the deep convolutional neural network (CNN). The proposed method constructs a new layer called non-homogeneous pooling layer to transform features between…

Localization of radio frequency (RF) sources has critical applications, including search and rescue, jammer detection, and monitoring of hostile activities. Unmanned aerial vehicles (UAVs) offer significant advantages for RF source…

Visual object tracking (VOT) plays a pivotal role in unmanned aerial vehicle (UAV) applications. Addressing the trade-off between accuracy and efficiency, especially under challenging conditions like unpredictable occlusion, remains a…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Unmanned Aerial Vehicles (UAVs) are considered cutting-edge technology with highly cost-effective and flexible usage scenarios. Although many papers have reviewed the application of UAVs in agriculture, the review of the application for…