5 papers
Autonomous FPV Flight with Translational Optical Flow and Uncertainty Mask
Yang Deng, Yu Hu, Feng Yu +2
Autonomous FPV quadrotor flight in complex environments using a monocular RGB camera as the sole exteroceptive sensor remains a fundamental challenge. Recent research has shown tha…
Vision-Based End-to-End Learning for UAV Traversal of Irregular Gaps via Differentiable Simulation
Linzuo Zhang, Yu Hu, Feng Yu +3
-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, tra…
Mastering Diverse, Unknown, and Cluttered Tracks for Robust Vision-Based Drone Racing
Feng Yu, Yu Hu, Yang Su +3
Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed…
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments
Linzuo Zhang, Yu Hu, Yang Deng +2
Collision-free flight in cluttered environments is a critical capability for autonomous quadrotors. Traditional methods often rely on detailed 3D map construction, trajectory gener…
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera
Yu Hu, Yuang Zhang, Yunlong Song +6
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this inf…