Engineering topics
Daftry, Shreyansh
Publications and source records attributed to Daftry, Shreyansh.
Online Self-Supervised Long-Range Scene Segmentation for MAVs
Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for high-speed autonomous flights in complex dynamic environments, robust scene understanding at long-range becomes critical. The problem is heavily characterized by either the limitations imposed by sensor capabilities for geometry-based methods, or the need for large-amounts of manually annotated training data required by data-driven methods. This motivates the need to build systems that have the capability to alleviate these problems by exploiting the complimentary strengths of both geometry and data-driven methods. In this paper, we take a step in this direction and propose a generic framework for adaptive scene segmentation using self-supervised online learning. We present this in the context of vision-based autonomous MAV flight, and demonstrate the efficacy of our proposed system through extensive experiments on benchmark datasets and real world field tests.
Towards Vision-based Safe Autonomous Landing of MAVs at Night
This paper is about vision-based navigation of Micro Aerial Vehicles (MAVs) at night. Despite it being dark almost half of the time, most of the work to date has addressed only daytime operations. Enabling autonomous night-time operation of MAVs with low SWaP on-board sensing capabilities is still an open problem in current robotics research. In this work, we take a step in this direction and study the problem in the context of vision-based autonomous landing at night using thermal-infrared cameras.