Robust Scene Perception for Drones in Degraded Visual Environments

为了在低能见度下稳健地感知环境，该项目将探索一种为无人机设计的新型场景感知系统。新系统将配备一套新兴的轻型传感器，对视觉退化具有内在的健壮性(例如，单芯片毫米波雷达、热电堆阵列、事件摄像头和固态激光雷达)，以及适应无人机能力的资源感知计算流水线。围绕场景感知的两大支柱任务，我们希望无人机在(1)3D度量映射和(2)恶劣视觉条件下的语义映射方面获得可靠的性能。

To robustly perceive the environment under low-visibility, this project will explore a novel scene perception system designed for drones. The new system would feature a set of emerging lightweight sensors intrinsically robust against visual degradation (e.g., single-chip millimeterwave radars, thermopile arrays, event cameras and solid-state LiDARs) and resource-aware computation pipeline adaptive to the drone's capability. Focusing on two pillar tasks of scene perception, we would like drones to attain reliable performance in (1) 3D metric mapping and (2) semantic mapping under adverse visual conditions.