相关论文: Exploiting Structure-from-Motion for Robust Vision…

This paper presents a novel on-line path planning method that enables aerial robots to interact with surfaces. We present a solution to the problem of finding trajectories that drive a robot towards a surface and move along it. Triangular…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…

Non-Rigid Structure-from-Motion (NRSfM) reconstructs a deformable 3D object from the correspondences established between monocular 2D images. Current NRSfM methods lack statistical robustness, which is the ability to cope with…

We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and…

In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. Different from the previous methods which drastically…

We describe a set of tools for analyzing, visualizing, and assessing architectural/construction progress with unordered photo collections and 3D building models. With our interface, a user guides the registration of the model in one of the…

Existing aerial Vision-Language Navigation (VLN) methods predominantly adopt a detection-and-planning pipeline, which converts open-vocabulary detections into discrete textual scene graphs. These approaches are plagued by inadequate spatial…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…

Structure-from-Motion (SfM) is a fundamental technique for recovering camera poses and scene structure from multi-view imagery, serving as a critical upstream component for applications ranging from 3D reconstruction to modern neural scene…

Creating 3D models through the Structure from Motion technique is a recognized, efficient, cost-effective structural monitoring strategy. This technique is applied in several engineering fields, particularly for creating models of large…

In this paper, we studied a SLAM method for vector-based road structure mapping using multi-beam LiDAR. We propose to use the polyline as the primary mapping element instead of grid cell or point cloud, because the vector-based…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free,…

Over the past decade, there has been a significant increase in the use of Unmanned Aerial Vehicles (UAVs) to support a wide variety of missions, such as remote surveillance, vehicle tracking, and object detection. For problems involving…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…