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Design and implementation of an unmanned aerial vehicle for autonomous firefighting missions
- H. Qin, Jinqiang Cui, Ben M. Chen
- Computer Science, Environmental Science12th IEEE International Conference on Control and…
- 1 June 2016
The proposed UAV firefighting system consists of a self-designed quadcopter as platform, a transmission system to collect and release water, a real time kinematic based navigation system and a mission control system to monitor and coordinate the UAV.
Block-Sparse RPCA for Consistent Foreground Detection
This work dynamically estimates the support of the foreground regions via a motion saliency estimation step, so as to impose spatial coherence on these regions, and is able to obtain crisply defined foreground regions and in general, handles large dynamic background motion much better.
Google map aided visual navigation for UAVs in GPS-denied environment
- Mo Shan, Fei Wang, F. Lin, Zhi Gao, Ya Z. Tang, Ben M. Chen
- Computer ScienceIEEE International Conference on Robotics and…
- 1 December 2015
We propose a framework for Google Map aided UAV navigation in GPS-denied environment. Geo-referenced navigation provides drift-free localization and does not require loop closures. The UAV position…
System integration of a vision-guided UAV for autonomous landing on moving platform
- Xudong Chen, S. K. Phang, Mo Shan, Ben M. Chen
- Engineering12th IEEE International Conference on Control and…
- 1 June 2016
This manuscript describes a UAV implemented with vision and laser based localization algorithm to track and land on a moving platform that is realized in a quadrotor UAV and its performance is validated in actual flight experiments.
Real-time Simultaneous Localization and Mapping for UAV : A Survey
This article aims to give a picture of the evolution and very recent development of SLAM algorithms, and emphasis is given on real-time SLAM methods that are suitable for Unmanned Aerial Vehicles (UAVs).
Adaptive and Robust Sparse Coding for Laser Range Data Denoising and Inpainting
- Zhi Gao, Qingquan Li, R. Zhai, Mo Shan, F. Lin
- Computer ScienceIEEE Transactions on Circuits and Systems for…
- 1 December 2016
This work proposes an adaptive and robust SC algorithm exploiting the characteristics of typical laser range data and the availability of both range and reflectance data to realize range data denoising and inpainting, resulting in superior performance both visually and quantitatively.
A stereo and rotating laser framework for UAV navigation in GPS denied environment
The proposed framework is a senor integration system that combines a stereo camera with a rotating LRF and an integration of a fast feature-based motion estimation with an accurate shape matching refinement that is built in the customized unmanned aerial vehicle (UAV) platform.
OrcVIO: Object residual constrained Visual-Inertial Odometry
- Mo Shan, Qiaojun Feng, Nikolay A. Atanasov
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 29 July 2020
This work presents OrcVIO, for visual-inertial odometry tightly coupled with tracking and optimization over structured object models, through semantic feature and bounding-box reprojection errors to perform batch optimization over the pose and shape of objects.
An MAV Localization and Mapping System Based on Dual Realsense Cameras
This paper presents a dual camera system to estimate the pose of an MAV and generate an obstacle map for navigation and demonstrates the good performance of the proposed system.
A brief survey of visual odometry for micro aerial vehicles
This survey paper attempts to provide a timely and comprehensive review of this field, focusing specifically on micro aerial vehicles (MAVs), with monocular, stereo or RGB-D cameras onboard.