6 accepted papers
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Moti…
Thermal cameras can enable autonomous flight at night without GPS. However, image-based navigation in the thermal infrared spectrum has been researched significantly less than in the visible spectrum. In this paper, we demonstrate closed-loop controlled outdoor flights at night on a quadrotor. Our s…
Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for highspeed autonomous flights in complex dynamic environments, robust scene understanding at long-range becomes critical. The problem is…
We present a task-oriented grasp model, that encodes grasps that are configurationally compatible with a given task. For instance, if the task is to pour liquid from a container, the model encodes grasps that leave the opening of the container unobstructed. The model consists of two independent agen…
In this paper, we present a novel approach in combining visual and inertial measurements in non-static environments for first order characterization of the metric motion of non-static objects in the scene. Our approach leverages online estimated ego motion states and uses a novel inertial-optical fl…
In this paper, we present a new feature representation for first-person videos. In first-person video understanding (e.g., activity recognition), it is very important to capture both entire scene dynamics (i.e., egomotion) and salient local motion observed in videos. We describe a representation fra…