Related papers: Initial Orbit Determination from Only Heading Meas…
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
Given an on-board diagnostics (OBD) dataset and a physics-based emissions prediction model, this paper aims to develop an accurate and computational-efficient AI (Artificial Intelligence) method that predicts vehicle emissions. The problem…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
We present methodology and mission results from orbit determination of Planet Labs nanosatellites and differential-drag control of their relative motion. Orbit determination (OD) is required on Planet Labs satellites to accurately predict…
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…
We present an algorithm to compute the minimum orbital intersection distance (MOID), or global minimum of the distance between the points lying on two Keplerian ellipses. This is achieved by finding all stationary points of the distance…
This paper on ASTROD I is based on our 2010 proposal submitted for the ESA call for class-M mission proposals, and is a sequel and an update to our previous paper [Experimental Astronomy 23 (2009) 491-527; designated as Paper I] which was…
Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…
Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…
This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…
LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
Aims. The knowledge of the orbits and origins derived from meteors is important for the study of meteoroids and of the early solar system. With an increase in nano-satellite projects dedicated to Earth observations or directly to meteor…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
The case of the classical Hill problem is numerically investigated by performing a thorough and systematic classification of the initial conditions of the orbits. More precisely, the initial conditions of the orbits are classified into four…
Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…