4 papers
Hardware- and Vision-in-the-Loop Validation of Deep Monocular Pose Estimation for Autonomous Maritime UAV Flight
Maneesha Wickramasuriya, Beomyeol Yu, Jaden Shin +3
Autonomous UAV operations on ships require reliable vision-based relative pose estimation, yet at-sea validation is costly, weather-dependent, and risky. This paper presents a hard…
Deep Transformer Network for Monocular Pose Estimation of Shipborne Unmanned Aerial Vehicle
Maneesha Wickramasuriya, Taeyoung Lee, Murray Snyder
This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic d…
Invariant Kalman Filter for Relative Dynamics
Tejaswi K. C., Maneesha Wickramasuriya, Silvere Bonnabel +2
This paper develops a geometric framework for invariant filtering of relative dynamics on Lie groups. We first revisit the notion of state trajectory independence, under which the…
Vision-in-the-loop Simulation for Deep Monocular Pose Estimation of UAV in Ocean Environment
Maneesha Wickramasuriya, Beomyeol Yu, Taeyoung Lee +1
This paper proposes a vision-in-the-loop simulation environment for deep monocular pose estimation of a UAV operating in an ocean environment. Recently, a deep neural network with…