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

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

Underwater scenes intrinsically involve degradation problems owing to heterogeneous ocean elements. Prevailing underwater image enhancement (UIE) methods stick to straightforward feature modeling to learn the mapping function, which leads…

Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite images. Existing methods heavily rely on the supervision of…

Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…

We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

The field of monocular depth estimation is continually evolving with the advent of numerous innovative models and extensions. However, research on monocular depth estimation methods specifically for underwater scenes remains limited,…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…

Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

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…

This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…

A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…

This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…