相关论文: CNN-Based Camera Pose Estimation and Localisation …
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siamese neural networks that extract relevant features despite…
Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
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…
Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
The usage of Unmanned Aerial Vehicles (UAVs) in the context of structural health inspection is recently gaining tremendous popularity. Camera mounted UAVs enable the fast acquisition of a large number of images often used for mapping, 3D…