相关论文: UAV-Assisted Self-Supervised Terrain Awareness for…
Deploying unmanned aerial vehicle (UAV) networks to provide coverage for outdoor users has attracted great attention during the last decade. However, outdoor coverage is challenging due to the high mobility of crowds and the diverse terrain…
Traversability estimation for mobile robots in off-road environments requires more than conventional semantic segmentation used in constrained environments like on-road conditions. Recently, approaches to learning a traversability…
Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…
Monitoring of disasters is crucial for mitigating their effects on the environment and human population, and can be facilitated by the use of unmanned aerial vehicles (UAV), equipped with camera sensors that produce aerial photos of the…
The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Perception of the environment is a critical component for enabling autonomous driving. It provides the vehicle with the ability to comprehend its surroundings and make informed decisions. Depth prediction plays a pivotal role in this…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
The study of terrain and landform classification through UAV remote sensing diverges significantly from ground vehicle patrol tasks. Besides grappling with the complexity of data annotation and ensuring temporal consistency, it also…
This paper presents a comprehensive review of recent advancements in image processing and deep learning techniques for pavement distress detection and classification, a critical aspect in modern pavement management systems. The conventional…
Rapid autonomous traversal of unstructured terrain is essential for scenarios such as disaster response, search and rescue, or planetary exploration. As a vehicle navigates at the limit of its capabilities over extreme terrain, its dynamics…
Unsupervised domain adaptation is one of the challenging problems in computer vision. This paper presents a novel approach to unsupervised domain adaptations based on the optimal transport-based distance. Our approach allows aligning target…
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…
The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…
Unmanned Aerial Vehicles (UAV) can pose a major risk for aviation safety, due to both negligent and malicious use. For this reason, the automated detection and tracking of UAV is a fundamental task in aerial security systems. Common…
In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…
Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…