相关论文: FC-Vision: Real-Time Visibility-Aware Replanning f…
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Occlusion removal is an interesting application of image enhancement, for which, existing work suggests manually-annotated or domain-specific occlusion removal. No work tries to address automatic occlusion detection and removal as a…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful human priors, limiting practicality, efficiency, and…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Despite recent advances, estimating optical flow remains a challenging problem in the presence of illumination change, large occlusions or fast movement. In this paper, we propose a novel optical flow estimation framework which can provide…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce…
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…
Recently, vision-based Advanced Driver Assist Systems have gained broad interest. In this work, we investigate free-space detection, for which we propose to employ a Fully Convolutional Network (FCN). We show that this FCN can be trained in…
Search and rescue missions are often critical following sudden natural disasters or in high-risk environmental situations. The most challenging search and rescue missions involve difficult-to-access terrains, such as dense forests with high…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…
The Euclidean Signed Distance Field (ESDF) is widely used in visibility evaluation to prevent occlusions and collisions during tracking. However, frequent ESDF updates introduce considerable computational overhead. To address this issue, we…
Volume-based indoor scene reconstruction methods offer superior generalization capability and real-time deployment potential. However, existing methods rely on multi-view pixel back-projection ray intersections as weak geometric constraints…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…