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We propose a machine learning based approach for automatic 3D building reconstruction and vectorization. Taking a single-channel photogrammetric digital surface model (DSM) and panchromatic (PAN) image as input, we first filter out…
Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high standard of reproducibility and robustness, is appealing.…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
The Mars Reconnaissance Orbiter (MRO) spacecraft has been in orbit around Mars since March 2006. The Context Camera (CTX) on MRO has returned over 100,000 images of the planet at approximately 5-6 meters per pixel, providing nearly global…
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates coarser representations. Multiple reconstruction methods…
Real-world applications, such as autonomous driving and humanoid robot manipulation, require precise spatial perception. However, it remains underexplored how Vision-Language Models (VLMs) recognize spatial relationships and perceive…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…
In the training process of the implicit 3D reconstruction network, the choice of spatial query points' sampling strategy affects the final performance of the model. Different works have differences in the selection of sampling strategies,…
All life on Earth needs water. NASA's quest to follow the water links water to the search for life in the cosmos. Telescopes like JWST and mission concepts like HabEx, LUVOIR and Origins are designed to characterise rocky exoplanets…
Spacecraft entering Mars require precise navigation algorithms capable of accurately estimating the vehicle's position and velocity in dynamic and uncertain atmospheric environments. Discrepancies between the true Martian atmospheric…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods, this paper presents an autonomous multi-robot system for highway litter monitoring and…
The segmentation and interpretation of the Martian surface play a pivotal role in Mars exploration, providing essential data for the trajectory planning and obstacle avoidance of rovers. However, the complex topography, similar surface…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
In this work, we study the perception problem for sampled surfaces (possibly with boundary) using tools from computational topology, specifically, how to identify their underlying topology starting from point-cloud samples in space, such as…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…
Mars Sample Return consists of three separate missions, the first of which is the Mars2020 rover which will land at Jezero crater on February 18, 2021. We describe here our remote sensing study of a particular unit that outcrops in Jezero…
This paper presents an AI system applied to location and robotic grasping. Experimental setup is based on a parameter study to train a deep-learning network based on Mask-RCNN to perform waste location in indoor and outdoor environment,…