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Mars, lacking an intrinsic dynamo, is an ideal laboratory to comparatively study induced magnetospheres, which can be found in other terrestrial bodies as well as comets. Additionally, Mars is of particular interest to further exploration…
NASA's InSight mission on Mars continues to record seismic data over 3 years after landing, and to date, over a thousand marsquakes have been identified. With only a single seismic station, the determination of the epicentral location is…
This paper considers outdoor terrain mapping using RGB images obtained from an aerial vehicle. While feature-based localization and mapping techniques deliver real-time vehicle odometry and sparse keypoint depth reconstruction, a dense…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
Earth observing satellites are powerful tools for collecting scientific information about our planet, however they have limitations: they cannot easily deviate from their orbital trajectories, their sensors have a limited field of view, and…
The reconstruction of accurate three-dimensional environment models is one of the most fundamental goals in the field of photogrammetry. Since satellite images provide suitable properties for obtaining large-scale environment…
Uncontrolled spacecraft will disintegrate and generate a large amount of debris in the reentry process, and ablative debris may cause potential risks to the safety of human life and property on the ground. Therefore, predicting the landing…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
Radio maps reflect the spatial distribution of signal strength and are essential for applications like smart cities, IoT, and wireless network planning. However, reconstructing accurate radio maps from sparse measurements remains…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
Planetary rover missions must utilize machine learning-based perception to continue extra-terrestrial exploration with little to no human presence. Martian terrain segmentation has been critical for rover navigation and hazard avoidance to…
Space exploration has witnessed revolutionary changes upon landing of the Perseverance Rover on the Martian surface and demonstrating the first flight beyond Earth by the Mars helicopter, Ingenuity. During their mission on Mars,…
Planetary rover systems need to perform terrain segmentation to identify drivable areas as well as identify specific types of soil for sample collection. The latest Martian terrain segmentation methods rely on supervised learning which is…
Remote sample recovery is a rapidly evolving application of Small Unmanned Aircraft Systems (sUAS) for planetary sciences and space exploration. Development of cyber-physical systems (CPS) for autonomous deployment and recovery of sensor…
The Landform contextual mesh fuses 2D and 3D data from up to thousands of Mars 2020 rover images, along with orbital elevation and color maps from Mars Reconnaissance Orbiter, into an interactive 3D terrain visualization. Contextual meshes…
3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…
Super-resolution is aimed at reconstructing high-resolution images from low-resolution observations. State-of-the-art approaches underpinned with deep learning allow for obtaining outstanding results, generating images of high perceptual…
Depth estimation plays a great potential role in obstacle avoidance and navigation for further Mars exploration missions. Compared to traditional stereo matching, learning-based stereo depth estimation provides a data-driven approach to…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…