相关论文: SCC-Loc: A Unified Semantic Cascade Consensus Fram…

We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy relative measurements between poses. The algorithm, called…

Reliable UAV object detection requires robustness to illumination changes, motion blur, and scene dynamics that suppress RGB cues. Thermal long-wave infrared (LWIR) sensing preserves contrast in low light, and event cameras retain…

Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…

Cross-view geo-localization (CVGL) is pivotal for GNSS-denied UAV navigation but remains brittle under the drastic geometric misalignment between oblique aerial views and orthographic satellite references. Existing methods predominantly…

The subject of this research is the development of an intelligent, integrated framework for the automated inspection of photovoltaic (PV) infrastructure that addresses the critical shortcomings of conventional methods, including thermal…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

Visual geo-localization for drones faces critical degradation under weather perturbations, \eg, rain and fog, where existing methods struggle with two inherent limitations: 1) Heavy reliance on limited weather categories that constrain…

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,…

Generalizable cross-view geo-localization aims to match the same location across views in unseen regions and conditions without GPS supervision. Its core difficulty lies in severe semantic inconsistency caused by viewpoint variation and…

This paper presents VisLanding, a monocular 3D perception-based framework for safe UAV (Unmanned Aerial Vehicle) landing. Addressing the core challenge of autonomous UAV landing in complex and unknown environments, this study innovatively…

Unmanned Aerial Vehicles (UAVs) are increasingly used in surveillance, logistics, agriculture, disaster management, and military operations. Accurate detection and classification of UAV flight states, such as hovering, cruising, ascending,…

With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…

In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we…

Unmanned aerial vehicle (UAV) holds immense potential in integrated sensing and communication (ISAC) systems for the Internet of Things (IoT). In this paper, we propose a UAV-aided ISAC framework and investigate three robust power…

Integrated sensing and communication (ISAC) exhibits notable potential for sensing the unmanned aerial vehicles (UAVs), facilitating real-time monitoring of UAVs for security insurance. Due to the low sensing accuracy of single base…

Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…

Cross-view object Geo-localization aims to precisely pinpoint the same object across large-scale satellite imagery based on drone images. Due to significant differences in viewpoint and scale, coupled with complex background interference,…