4 papers
VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry
Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2
Inertial odometry (IO) is critical for aerial robots, where aggressive maneuvers and poor lighting degrade visual sensors. Recent learning-based IO methods improve traditional inte…
Robust Tightly-Coupled Filter-Based Monocular Visual-Inertial State Estimation and Graph-Based Evaluation for Autonomous Drone Racing
Maulana Bisyir Azhari, Donghun Han, Sung Jun Park +1
Autonomous drone racing (ADR) demands state estimation that is simultaneously computationally efficient and resilient to the perceptual degradation experienced during extreme veloc…
Drift-Corrected Monocular VIO and Perception-Aware Planning for Autonomous Drone Racing
Maulana Bisyir Azhari, Donghun Han, Je In You +2
The Abu Dhabi Autonomous Racing League(A2RL) x Drone Champions League competition(DCL) requires teams to perform high-speed autonomous drone racing using only a single camera and a…
A Collaborative Team of UAV-Hexapod for an Autonomous Retrieval System in GNSS-Denied Maritime Environments
Seungwook Lee, Maulana Bisyir Azhari, Gyuree Kang +3
We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mech…