10 accepted papers
Fringe projection profilometry (FPP), a widely used 3D reconstruction method, often encounters a dilemma between speed and accuracy for dynamic measurement. This paper proposes a deep-learning based single-shot 3D reconstruction method, which considers both speed and accuracy. We utilize the individ…
Event generators in high-energy nuclear and particle physics play an important role in facilitating studies of particle reactions. We survey the state of the art of machine learning (ML) efforts at building physics event generators. We review ML generative models used in ML-based event generators an…
We apply generative adversarial network (GAN) technology to build an event generator that simulates particle production in electron-proton scattering that is free of theoretical assumptions about underlying particle dynamics. The difficulty of efficiently training a GAN event simulator lies in learn…
Obtaining reliable state estimates at high altitude but GPS-denied environments, such as between high-rise buildings or in the middle of deep canyons, is known to be challenging, due to the lack of direct distance measurements. Monocular visual-inertial systems provide a possible way to recover the…
Robust state estimation is the core capability for autonomous aerial robots operating in complex environments. Global navigation satellite system and visual odometry/SLAM are popular methods for state estimation. However, there exist scenarios, such as when flying between tall buildings or in the mi
Due to the lack of direct distance measurements, robust and accurate state estimation at high altitude but GPS-denied environments is a challenging task. A possible solution is monocular visual-inertial estimators, in which visual and inertial measurements are properly fused to recover the metric es
In this work, we address the problem of aggressive flight of a quadrotor aerial vehicle using cameras and IMUs as the only sensing modalities. We present a fully integrated quadrotor system and demonstrate through online experiment the capability of autonomous flight with linear velocities up to 4.2
We present an online method for generating collision-free trajectories for autonomous quadrotor flight through cluttered environments. We consider the real-world scenario that the quadrotor aerial robot is equipped with limited sensing and operates in initially unknown environments. During flight, a
We address the important problem of achieving robust and easy-to-deploy visual state estimation for micro aerial vehicles (MAVs) operating in complex environments. We use a sensor suite consisting of multiple cameras and an IMU to maximize perceptual awareness of the surroundings and provide suffici…
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of…