相关论文: Drift-Corrected Monocular VIO and Perception-Aware…

In autonomous and mobile robotics, a principal challenge is resilient real-time environmental perception, particularly in situations characterized by unknown and dynamic elements, as exemplified in the context of autonomous drone racing.…

Palm-sized autonomous nano-drones, i.e., sub-50g in weight, recently entered the drone racing scenario, where they are tasked to avoid obstacles and navigate as fast as possible through gates. However, in contrast with their bigger…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…

Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…

With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…

The stability of visual odometry (VO) systems is undermined by degraded image quality, especially in environments with significant illumination changes. This study employs a deep reinforcement learning (DRL) framework to train agents for…

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the…

Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other…

Humans race drones faster than neural networks trained for end-to-end autonomous flight. This may be related to the ability of human pilots to select task-relevant visual information effectively. This work investigates whether neural…

Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision,…

Event-based vision has already revolutionized the perception task for robots by promising faster response, lower energy consumption, and lower bandwidth without introducing motion blur. In this work, a novel deep learning method based on…