Related papers: Autonomous Angles-Only Multi-Target Tracking for S…
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
Tracking and modeling unknown rigid objects in the environment play a crucial role in autonomous unmanned systems and virtual-real interactive applications. However, many existing Simultaneous Localization, Mapping and Moving Object…
Space debris and inactive satellites pose a threat to the safety and integrity of operational spacecraft and motivate the need for space situational awareness techniques. These uncooperative targets create a challenging tracking and…
The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
Multi-object tracking (MOT) is a fundamental task in computer vision that requires continuously tracking multiple targets while maintaining consistent identities across frames. However, most existing approaches primarily rely on…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
Space debris is on the rise due to the increasing demand for spacecraft for com-munication, navigation, and other applications. The Space Surveillance Network (SSN) tracks over 27,000 large pieces of debris and estimates the number of…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
The exploration of small bodies in the Solar System is a high priority planetary science. Asteroids, comets, and planetary moons yield important information about the evolution of the Solar System. Additionally, they could provide resources…
Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…
Object tracking in satellite videos remains a complex endeavor in remote sensing due to the intricate and dynamic nature of satellite imagery. Existing state-of-the-art trackers in computer vision integrate sophisticated architectures,…
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional…