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Analysis of Deep Feature Matching Algorithms in UAV Visual Localization
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Prutyanov V., Тернов М. А., Костров Д. С.
The work presents an analysis of the application of deep learning-based methods for the keypoint extraction and matching in the context of map-aided UAV visual localization. A method for visual localization in three degrees of freedom is proposed, which employs pretrained SuperPoint and LightGlue networks for both short-term optical flow and global frame-to-map matching components. The ability of SuperPoint and LightGlue to refine a prediction of a less accurate location estimator without fine-tuning was estimated. The accuracy of the proposed method was evaluated and a detailed analysis of keypoint-based image matching algorithms was conducted on the AdM_UAV dataset. The performance evaluation of the proposed method was carried out on NVIDIA Jetson Orin Nano and shows acceptable results for real-time visual localization on this hardware platform.
Gamberov T., Safin R., Chebotareva E. et al., , in: 2025 9th International Conference on Information, Control, and Communication Technologies (ICCT-2025).: IEEE, 2025. P. 1–5.
Digital human models (DHM) for virtual environments allow a cost-effective and reproducible evaluation of computer vision algorithms that are employed in robotics, e.g., human detection, tracking and following. Yet, many popular robotics simulators do not achieve a reasonable level of realism and diversity required to rigorously test such algorithms under varying conditions. This paper introduces ...
Added: June 23, 2026
Faizullin R., Mustafin M., Svinin M. et al., , in: 2025 9th International Conference on Information, Control, and Communication Technologies (ICCT-2025).: IEEE, 2025. P. 1–4.
This work addresses the problem of energy-constrained coverage of agricultural fields using a fleet of identical unmanned aerial vehicles (UAVs). Each UAV must complete a spraying mission over a designated area, subject to limited battery capacity. To ensure energy feasibility, static charging stations are deployed along the field’s perimeter. The agricultural field is first partitioned ...
Added: June 23, 2026
Slivnitsin P., Mylnikov L., Engineering Applications of Artificial Intelligence 2026 Vol. 179 Article 115185
The paper describes a applied artificial intelligence task of recognition-by-components method of real objects based on the recognition of a limited set of primitives or components. The recognition-by-components makes it possible to determine the components, that compose an object, and increase the number of recognizable objects without degrading the recognition quality. Training is performed on ...
Added: May 29, 2026
Kondratev S., Yulia Dyrchenkova, Georgiy Nikitin et al., Technologies 2026 Vol. 14 No. 1 Article 69
This paper presents Aerokinesis, an IoT-based software–hardware system for intuitive gesture-driven control of quadcopter unmanned aerial vehicles (UAVs), developed within the Robot Operating System 2 (ROS2) framework. The proposed system addresses the challenge of providing an accessible human–drone interaction interface for operators in scenarios where traditional remote controllers are impractical or unavailable. The architecture comprises ...
Added: May 19, 2026
Vaschenko A., Frolov O., Safin R. et al., , in: 16th International Conference on Intelligent Systems, INTELS 2024, Moscow, Russia, December 2–4, 2024, Proceedings, Part I. Intelligent Systems. (CCIS, volume 2603).: Springer, 2025. P. 311–324.
Swarm robotics is a complex domain within multi-robot systems that encompasses formation control, movement control, and interUAV communication. Coordinates task execution requires effctive swarm control, which relies on robust motion control algorithms and reliable data exchange mechanisms. In this work, we propose an operator-leaderfollowers approach for managing UAV swarms. It comprises the following components: centralized swarm control utilizing ...
Added: March 17, 2026
Frolov O. V., Safin R. N., Tsoy T. G. et al., Ученые записки Казанского университета. Серия: Физико-математические науки 2025 Vol. 167 No. 4 P. 786–805
Advancements in robotics have expanded a use of unmanned aerial vehicle (UAV) swarms in
critical tasks such as disaster response, including search and rescue operations during floods, hurricanes,
landsliding, and earthquakes. Swarm formation control stands as a critical challenge in UAV swarm
control. In this article, a simple and resource-efficient method for addressing collisions within swarm
formations during outdoor ...
Added: March 17, 2026
Myzina A., Safin R., Tsoy T. et al., , in: Proceedings Volume 14073, Fifth International Conference on Artificial Intelligence, Automation, and Algorithms (AI2A 2025).: [б.и.], 2026.
Floods are among the most destructive natural disasters, causing human casualties and severe economic damage. Effective monitoring of flooded areas requires automated systems capable of real-time perception and decision-making. This paper proposes a water surface segmentation model based on the U-Net architecture, trained entirely on synthetic data generated in the Gazebo simulator with variations in ...
Added: March 17, 2026
Pikul A. S., Безопасность информационных технологий 2024 Т. 31 № 4 С. 116–127
This article explores the potential use of modern computer vision architectures for the task of deepfake detection. The following architectures are considered: EfficientNet, Vision Transformer (ViT), VisionLSTM (ViL), Vision KAN, and Mamba Vision. The novelty of the approach lies in the application and comparison of these architectures, as well as their combination into paired ensembles ...
Added: December 12, 2025
[б.и.], 2026.
The Winter Conference on Applications of Computer Vision is the premier international computer vision event comprising the main conference and several co-located workshops and tutorials. With its high quality and low cost, it provides an exceptional value for students, academics and industry researchers. ...
Added: November 24, 2025
Viktor V. Prutyanov, Nikita L. Korolev, Aleksandr Y. Romanov, , in: 2025 International Russian Automation Conference (RusAutoCon).: IEEE, 2025. P. 350–354.
This paper presents a UAV visual localization system that leverages zero-shot deep feature matching to achieve localization in 4 degrees of freedom. The proposed system combines short-term optical flow and long-term map matching techniques, integrated through a Kalman filter for robust measurement fusion. Key contributions include the use of pre-trained deep learning models (SuperPoint, ALIKED, ...
Added: November 6, 2025
Dalian: IEEE, 2025.
The increasing complexity of modern software development necessitates intelligent, automated security analysis frameworks that can effectively pay attention of human on high-risk software releases. This paper introduces a Multi Agent System (MAS) framework designed to enhance the security assessment process by leveraging artificial intelligence (AI) and intelligent computing for real-time release analysis. The proposed system ...
Added: November 3, 2025
- Р. М., International Journal of Information Technology (Singapore) 2024 Article 1
Added: October 1, 2025
ЦЭПЛ РАН, 2025.
The collection presents abstracts of 59 reports, which consider the issues of the current state of scientific and technical developments in the field of forestry and forestry, the application of new methods and technologies for complex analysis of satellite data and ground survey materials.
Much attention in the conference materials is given to the development of ...
Added: September 7, 2025
Slastnikov S., Petr Rybakov, Matvei Antonov et al., , in: 24th International Conference, NEW2AN 2024, and 17th Conference, ruSMART 2024, Marrakesh, Morocco, December 11–12, 2024, Proceedings, Part I. Internet of Things, Smart Spaces, and Next Generation Networks and Systems. (LNCS, volume 15554)* 1.: Cham: Springer, 2025. P. 11–18.
An algorithmic and architectural solution is presented for the Search And Rescue (SAR) problem in open areas using image data from UAVs in real time. The solution is an original software and hardware complex that includes a UAV, on-board deployed machine vision application with a novel object detection model and a transmitter to send coordinates ...
Added: June 11, 2025
Springer, 2025.
The multi-volume set LNCS 15623 until LNCS 15646 constitutes the proceedings of the workshops that were held in conjunction with the 18th European Conference on Computer Vision, ECCV 2024, which took place in Milan, Italy, during September 29–October 4, 2024.
These LNCS volumes contain 574 accepted papers from 53 of the 73 workshops. The list of ...
Added: June 1, 2025
Дубельщиков А. А., Gamberov T., Tsoy T. et al., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. P. 1–4.
The Internet of Flying Things is one of the priority areas for robotics and automation research and applications. A promising case is an application of UAVs in a search and rescue scenario for data collection from pre-positioned IoT devices, which allows assessing and monitoring a current situation in an operation area. This paper presents a ...
Added: April 28, 2025
Кочкаров А. А., Yatskin D., Программные продукты и системы 2016 № 3 С. 60–66
This paper is devoted to the task of space monitoring, algorithm and software package for solving it. From this problem the authors go on to the problem of detection, and then – to the problem of geometrical sensors location. It is proposed to use a decentralized robotic network to solve this problem. Limitations and assumptions ...
Added: March 7, 2025
Frolov O., Safin R., Tsoy T. et al., , in: 8th International Conference on Computing, Control and Industrial Engineering: Advances in Computing, Control and Industrial Engineering VIII (Volume 1).: Springer, 2024. P. 364–372.
Added: February 19, 2025
Imamov N., Abbyasov B., Tsoy T. et al., , in: Interactive Collaborative Robotics. 9th International Conference, ICR 2024, Mexico City, Mexico, October 14–18, 2024, Proceedings.: Cham: Springer, 2024. P. 344–356.
Added: February 19, 2025
Muhartova I., Sogachev A., Gibadullin R. et al., Remote Sensing 2024 Vol. 16 No. 13 Article 2502
This study explores the potential of using Unmanned Aircraft Vehicles (UAVs) as a measurement platform for estimating greenhouse gas (GHG) fluxes over complex terrain. We proposed and tested an inverse modeling approach for retrieving GHG fluxes based on two-level measurements of GHG concentrations and airflow properties over complex terrain with high spatial resolution. Our approach ...
Added: February 12, 2025