相关论文: Vision-in-the-loop Simulation for Deep Monocular P…

Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…

Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…

Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…

In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…

A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on…

Recent advances in cross-view geo-localization (CVGL) methods have shown strong potential for supporting unmanned aerial vehicle (UAV) navigation in GNSS-denied environments. However, existing work predominantly focuses on matching UAV…

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely…

Landslide monitoring and simulation play an important role in urban safety assessment and disaster prevention. Existing landslide simulation pipelines typically rely on digital elevation model and mesh-based representations, which are…

The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…

This paper presents the integration of flow field reconstruction, dynamic probabilistic modeling, search control, and machine vision detection in a system for autonomous maritime search operations. Field experiments conducted in Valun Bay…

We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process.…

Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…

Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…

We propose a novel method for geolocalizing Unmanned Aerial Vehicles (UAVs) in environments lacking Global Navigation Satellite Systems (GNSS). Current state-of-the-art techniques employ an offline-trained encoder to generate a vector…