Gylfi Þór Guðmundsson

Joshua Springer, Gylfi Þór Guðmundsson, Marcel Kyas

We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the direction from the drone to the landing pad, enabling it to switch dynamically between the camera's different sensors and zoom factors, and minimizing auxiliary sensor requirements. It eliminates the need for data such as altitude above ground level, straight-line distance to the landing pad, fiducial marker size, and 6 DoF marker pose (of which the orientation is problematic). We leverage the zoom and wide-angle cameras, as well as visual April Tag fiducial markers to conduct successful precision landings from much longer distances than in previous work (168m horizontal distance, 102m altitude). We use two types of April Tags in the IR spectrum - active and passive - for precision landing both at daytime and nighttime, instead of simple IR beacons used in most previous work. The active IR landing pad is heated; the novel, passive one is unpowered, at ambient temperature, and depends on its high reflectivity and an IR differential between the ground and the sky. Finally, we propose a high-level control policy to manage initial search for the landing pad and subsequent searches if it is lost - not addressed in previous work. The method demonstrates successful landings with the landing skids at least touching the landing pad, achieving an average error of 0.19m. It also demonstrates successful recovery and landing when the landing pad is temporarily obscured.

Joshua Springer, Gylfi Þór Guðmundsson, Marcel Kyas

A remaining challenge in multirotor drone flight is the autonomous identification of viable landing sites in unstructured environments. One approach to solve this problem is to create lightweight, appearance-based terrain classifiers that can segment a drone's RGB images into safe and unsafe regions. However, such classifiers require data sets of images and masks that can be prohibitively expensive to create. We propose a pipeline to automatically generate synthetic data sets to train these classifiers, leveraging modern drones' ability to survey terrain automatically and the ability to automatically calculate landing safety masks from terrain models derived from such surveys. We then train a U-Net on the synthetic data set, test it on real-world data for validation, and demonstrate it on our drone platform in real-time.

Björn Þór Jónsson, Omar Shahbaz Khan, Hanna Ragnarsdóttir et al.

Increasing scale is a dominant trend in today's multimedia collections, which especially impacts interactive applications. To facilitate interactive exploration of large multimedia collections, new approaches are needed that are capable of learning on the fly new analytic categories based on the visual and textual content. To facilitate general use on standard desktops, laptops, and mobile devices, they must furthermore work with limited computing resources. We present Exquisitor, a highly scalable interactive learning approach, capable of intelligent exploration of the large-scale YFCC100M image collection with extremely efficient responses from the interactive classifier. Based on relevance feedback from the user on previously suggested items, Exquisitor uses semantic features, extracted from both visual and text attributes, to suggest relevant media items to the user. Exquisitor builds upon the state of the art in large-scale data representation, compression and indexing, introducing a cluster-based retrieval mechanism that facilitates the efficient suggestions. With Exquisitor, each interaction round over the full YFCC100M collection is completed in less than 0.3 seconds using a single CPU core. That is 4x less time using 16x smaller computational resources than the most efficient state-of-the-art method, with a positive impact on result quality. These results open up many interesting research avenues, both for exploration of industry-scale media collections and for media exploration on mobile devices.