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The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features, which ...

Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous work has identified three interconnected systems challenges to ...

This paper introduces a novel approach for optimizing image capture using View-Planning (VP) to enhance Gaussian splatting for 3D reconstruction of archaeological sites, specifically focusing on Castellaraccio di Monteverdi. Traditional ...

Autonomous vehicles and human drivers are prone to line-of-sight limitations. Road-side mounted 3D sensors like LiDARs can augment a vehicle's on-board perception. However, this entails fusing 3D frames at low latency and high accuracy. Road-side and ...

A fundamental challenge in robot perception is the coupling of the sensor pose and robot pose. This has led to research in active vision where the robot pose is changed to reorient the sensor to areas of interest for perception. Furthermore, egomotion, ...

Mapping 3D airflow fields is important for many HVAC, industrial, medical, and home applications. However, current approaches are expensive and time-consuming. We present Anemoi, a sub-$100 drone-based system for autonomously mapping 3D airflow fields ...

As many as three million school age children between the ages of 5 and 14 years, live with severe to profound hearing loss in Nigeria. Many of these Deaf or Hard of Hearing (DHH) children developed their hearing loss later in life, non-congenitally, ...

Localization in urban environments is becoming increasingly important and used in tools such as ARCore [18], ARKit [34] and others. One popular mechanism to achieve accurate indoor localization and a map of the space is using Visual Simultaneous ...

As the drone becomes widespread in numerous crucial applications with many powerful functionalities (e.g., reconnaissance and mechanical trigger), there are increasing cases related to misused drones for unethical even criminal activities. Therefore, it ...

Visual SLAM is a long-standing research area with many significant advances over the years. New systems typically build on previous contributions, but this requires significant development overhead, a highly detailed understanding of previous system ...

Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous SLAM frameworks have primarily focused on algorithmic advances and ...

Human-swarm interaction has recently gained attention due to its plethora of new applications in disaster relief, surveillance, rescue, and exploration. However, if the task difficulty increases, the performance of the human operator decreases, thereby ...

UAVs are deployed in various applications including disaster search-and-rescue, precision agriculture, law enforcement and first response. As UAV software systems grow more complex, the drawbacks of developing them in low-level languages become more ...

We present Rushmore, a system that securely displays static or animated images using TrustZone. The core functionality of Rushmore is to securely decrypt and display encrypted images (sent by a trusted party) on a mobile device. Although previous ...

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This algorithm ...

Unmanned Aerial Vehicles (UAVs) are an emerging computation platform known for their safety-critical need. In this paper, we conduct an empirical study on a widely used open-source UAV software framework, Paparazzi, with the goal of understanding the ...

For decades automation has occupied a central stage in industrial revolution 3.0, from air space technology to manufacturing robotics. Today, the robots and automation technologies that once operated in a closed environment are increasingly ...

Swarm robotic system is a large number of autonomous systems working together to accomplish collective goals. Swarm systems offer remarkable operational flexibility, efficiency, and fault-tolerance, compared to sophisticated standalone systems. ...