相关论文: Reinforcement Learning-Based Monocular Vision Appr…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
Single-task learning in artificial neural networks will be able to learn the model very well, and the benefits brought by transferring knowledge thus become limited. In this regard, when the number of tasks increases (e.g., semantic…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
Recent technological progress in the development of Unmanned Aerial Vehicles (UAVs) together with decreasing acquisition costs make the application of drone fleets attractive for a wide variety of tasks. In agriculture, disaster management,…
Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…
Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. However, traditional modular pipelines often incur cumulative latency, whereas…
We propose a novel deep reinforcement learning-based approach for 3D object reconstruction from monocular images. Prior works that use mesh representations are template based. Thus, they are limited to the reconstruction of objects that…
Using a neural network architecture for depth map inference from monocular stabilized videos with application to UAV videos in rigid scenes, we propose a multi-range architecture for unconstrained UAV flight, leveraging flight data from…
We present a novel guidance law that uses observations consisting solely of seeker line of sight angle measurements and their rate of change. The policy is optimized using reinforcement meta-learning and demonstrated in a simulated terminal…
Unmanned Aerial Vehicles (UAVs) promise to become an intrinsic part of next generation communications, as they can be deployed to provide wireless connectivity to ground users to supplement existing terrestrial networks. The majority of the…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…
This paper presents a novel deep reinforcement learning-based system for 3D mapless navigation for Unmanned Aerial Vehicles (UAVs). Instead of using a image-based sensing approach, we propose a simple learning system that uses only a few…