4 papers
Training Lightweight CNNs for Human-Nanodrone Proximity Interaction from Small Datasets using Background Randomization
Marco Ferri, Dario Mantegazza, Elia Cereda +5
We consider the task of visually estimating the pose of a human from images acquired by a nearby nano-drone; in this context, we propose a data augmentation approach based on synth…
Uncertainty-Aware Self-Supervised Learning of Spatial Perception Tasks
Mirko Nava, Antonio Paolillo, Jérôme Guzzi +2
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. T…
Vision-based Control of a Quadrotor in User Proximity: Mediated vs End-to-End Learning Approaches
Dario Mantegazza, Jérôme Guzzi, Luca M. Gambardella +1
We consider the task of controlling a quadrotor to hover in front of a freely moving user, using input data from an onboard camera. On this specific task we compare two widespread…
Learning Long-Range Perception Using Self-Supervision from Short-Range Sensors and Odometry
Mirko Nava, Jerome Guzzi, R. Omar Chavez-Garcia +2
We introduce a general self-supervised approach to predict the future outputs of a short-range sensor (such as a proximity sensor) given the current outputs of a long-range sensor…