Related papers: Rock Hunting With Martian Machine Vision
In this paper, a novel method is proposed to extract rocks from Martian surface images by using 8 data field. It models the interaction between two pixels of an image in the context of imagery 9 characteristics. First, foreground rocks are…
This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…
Recent advances in deep reinforcement learning (deep RL) enable researchers to solve challenging control problems, from simulated environments to real-world robotic tasks. However, deep RL algorithms are known to be sensitive to the problem…
Machine learning is a field that has been growing in importance since the early 2010s due to the increasing accuracy of classification models and hardware advances that have enabled faster training on large datasets. In the field of…
Scene recognition, particularly for aerial and underwater images, often suffers from various types of degradation, such as blurring or overexposure. Previous works that focus on convolutional neural networks have been shown to be able to…
Despite the enormous success of machine learning models in various applications, most of these models lack resilience to (even small) perturbations in their input data. Hence, new methods to robustify machine learning models seem very…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
In many classification problems a classifier should be robust to small variations in the input vector. This is a desired property not only for particular transformations, such as translation and rotation in image classification problems,…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Object detection and classification using video is necessary for intelligent planning and navigation on a mobile robot. However, current methods can be too slow or not sufficient for distinguishing multiple classes. Techniques that rely on…
This research proposes a new integrated framework for identifying safe landing locations and planning in-flight divert maneuvers. The state-of-the-art algorithms for landing zone selection utilize local terrain features such as slopes and…
Efficient and accurate object detection is an important topic in the development of computer vision systems. With the advent of deep learning techniques, the accuracy of object detection has increased significantly. The project aims to…
Real-time analysis of Martian craters is crucial for mission-critical operations, including safe landings and geological exploration. This work leverages the latest breakthroughs for on-the-edge crater detection aboard spacecraft. We…
On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…
Aerial navigation on Mars requires vision-based pipelines that are robust to the diverse illumination conditions and terrain morphology of the Martian surface. A key bottleneck for training and evaluating such methods is the scarcity of…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Traditionally, an object detector is applied to every part of the scene of interest, and its accuracy and computational cost increases with higher resolution images. However, in some application domains such as remote sensing, purchasing…
As we look to the next generation of adaptive optics systems, now is the time to develop and explore the technologies that will allow us to image rocky Earth-like planets; wavefront control algorithms are not only a crucial component of…
Grasp verification is advantageous for autonomous manipulation robots as they provide the feedback required for higher level planning components about successful task completion. However, a major obstacle in doing grasp verification is…
We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terrain costmap, trained self-supervised using IMU-derived…