相关论文: M$^2$E-UAV: A Benchmark and Analysis for Onboard M…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces,…
In this work, we introduce the first framework for Motion-aware Event Suppression, which learns to filter events triggered by IMOs and ego-motion in real time. Our model jointly segments IMOs in the current event stream while predicting…
Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…
Target tracking is an important issue of social security. In order to track a target, traditionally a large amount of surveillance video data need to be uploaded into the cloud for processing and analysis, which put stremendous bandwidth…
Multi-uncrewed aerial vehicle (UAV) cooperative perception has emerged as a promising paradigm for diverse low-altitude economy applications, where complementary multi-view observations are leveraged to enhance perception performance via…
Event cameras are emerging vision sensors whose noise is challenging to characterize. Existing denoising methods for event cameras are often designed in isolation and thus consider other tasks, such as motion estimation, separately (i.e.,…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
This paper introduces a novel approach to video object detection detection and tracking on Unmanned Aerial Vehicles (UAVs). By incorporating metadata, the proposed approach creates a memory map of object locations in actual world…
For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, the lower…
Egocentric gesture recognition is a pivotal technology for enhancing natural human-computer interaction, yet traditional RGB-based solutions suffer from motion blur and illumination variations in dynamic scenarios. While event cameras show…
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…
Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…
Vehicle trajectory data provides critical information for traffic flow modeling and analysis. Unmanned aerial vehicles (UAV) is an emerging technology for traffic data collection because of its flexibility and diversity on spatial and…
We present the HIT-UAV dataset, a high-altitude infrared thermal dataset for object detection applications on Unmanned Aerial Vehicles (UAVs). The dataset comprises 2,898 infrared thermal images extracted from 43,470 frames in hundreds of…
Small-scale extreme ultraviolet (EUV) dimming often surrounds sites of energy release in the quiet Sun. This paper describes a method for the automatic detection of these small-scale EUV dimmings using a feature based classifier. The method…
Mobile edge computing (MEC) is a promising technology to meet the increasing demands and computing limitations of complex Internet of Things (IoT) devices. However, implementing MEC in urban environments can be challenging due to factors…
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 returns per scan, which is far below the point densities assumed…