相关论文: EPIC: A Lightweight LiDAR-Based UAV Exploration Fr…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…

In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…

We introduce ECLAIR (Extended Classification of Lidar for AI Recognition), a new outdoor large-scale aerial LiDAR dataset designed specifically for advancing research in point cloud semantic segmentation. As the most extensive and diverse…

Driven by the visions of Internet of Things (IoT), there is an ever-increasing demand for computation resources of IoT users to support diverse applications. Mobile edge computing (MEC) has been deemed a promising solution to settle the…

We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…

The increasing deployment of small drones as tools of conflict and disruption has amplified their threat, highlighting the urgent need for effective anti-drone measures. However, the compact size of most drones presents a significant…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…

Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…

To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Several solutions have been proposed in the literature to address the Unmanned Aerial Vehicles (UAVs) collision avoidance problem. Most of these solutions consider that the ground controller system (GCS) determines the path of a UAV before…

The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…