相关论文: AirSim360: A Panoramic Simulation Platform within …
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…
Autonomous driving world models are expected to work effectively across three core dimensions: state, action, and reward. Existing models, however, are typically restricted to limited state modalities, short video sequences, imprecise…
Adopting omnidirectional Field of View (FoV) cameras in aerial robots vastly improves perception ability, significantly advancing aerial robotics's capabilities in inspection, reconstruction, and rescue tasks. However, such sensors also…
We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes…
Human perception of the world is shaped by a multitude of viewpoints and modalities. While many existing datasets focus on scene understanding from a certain perspective (e.g. egocentric or third-person views), our dataset offers a panoptic…
We present UrbanFly: an uncertainty-aware real-time planning framework for quadrotor navigation in urban high-rise environments. A core aspect of UrbanFly is its ability to robustly plan directly on the sparse point clouds generated by a…
The advent of text-driven 360-degree panorama generation, enabling the synthesis of 360-degree panoramic images directly from textual descriptions, marks a transformative advancement in immersive visual content creation. This innovation…
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 development of safety-oriented research and applications requires fine-grain vehicle trajectories that not only have high accuracy, but also capture substantial safety-critical events. However, it would be challenging to satisfy both…
Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…
The rapid emergence of airborne platforms and imaging sensors is enabling new forms of aerial surveillance due to their unprecedented advantages in scale, mobility, deployment, and covert observation capabilities. This paper provides a…
We present a novel data set made up of omnidirectional video of multiple objects whose centroid positions are annotated automatically. Omnidirectional vision is an active field of research focused on the use of spherical imagery in video…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Vision-aided wireless sensing is emerging as a cornerstone of 6G mobile computing. While data-driven approaches have advanced rapidly, establishing a precise geometric correspondence between ego-centric visual data and radio propagation…
Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…
Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…
Text-driven 3D scene generation has seen significant advancements recently. However, most existing methods generate single-view images using generative models and then stitch them together in 3D space. This independent generation for each…
Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The…
We propose a 3D simulator tailored for the Drone-as-a-Service framework. The simulator enables employing dynamic algorithms for addressing realistic delivery scenarios. We present the simulator's architectural design and its use of an…