相关论文: An End-to-end Flight Control Network for High-spee…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…
Event cameras provide high dynamic range and microsecond-level temporal resolution, making them well-suited for indoor robot navigation, where conventional RGB cameras degrade under fast motion or low-light conditions. Despite advances in…
Underwater observatories have recently emerged as an efficient solution for marine biodiversity monitoring. The primary objective of this work is to enable efficient and cost-effective data muling from underwater sensors by investigating…
Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…
Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
A vision-based drone-to-drone detection system is crucial for various applications like collision avoidance, countering hostile drones, and search-and-rescue operations. However, detecting drones presents unique challenges, including small…
Fusing Events and RGB images for object detection leverages the robustness of Event cameras in adverse environments and the rich semantic information provided by RGB cameras. However, two critical mismatches: low-latency Events…
Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…
Model efficiency has become increasingly important in computer vision. In this paper, we systematically study neural network architecture design choices for object detection and propose several key optimizations to improve efficiency.…
Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…