Related papers: NaRPA: Navigation and Rendering Pipeline for Astro…
Image Processing algorithms for vision-based navigation require reliable image simulation capacities. In this paper we explain why traditional rendering engines may present limitations that are potentially critical for space applications.…
This paper presents Neural-GASh, a novel real-time shading pipeline for 3D meshes, that leverages a neural radiance field architecture to perform image-based rendering (IBR) using Conformal Geometric Algebra (CGA)-encoded vertex information…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
In advanced mission concepts with high levels of autonomy, spacecraft need to internally model the pose and shape of nearby orbiting objects. Recent works in neural scene representations show promising results for inferring generic…
Spacecraft autonomy can be enhanced by vision-based navigation (VBN) techniques. Applications range from manoeuvers around Solar System objects and landing on planetary surfaces, to in-orbit servicing or space debris removal. The…
We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at…
The increasing interest in spacecraft autonomy and the complex tasks to be accomplished by the spacecraft raise the need for a trustworthy approach to perform Verification & Validation of Guidance, Navigation, and Control algorithms. In the…
Millimeter-wave radars are being increasingly integrated into commercial vehicles to support new advanced driver-assistance systems by enabling robust and high-performance object detection, localization, as well as recognition - a key…
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…
Neural Radiance Fields (NeRFs) have demonstrated amazing ability to synthesize images of 3D scenes from novel views. However, they rely upon specialized volumetric rendering algorithms based on ray marching that are mismatched to the…
The primary task of the 1.26-m telescope jointly operated by the National Astronomical Observatory and Guangzhou University is photometric observations of the g, r, and i bands. A data processing pipeline system was set up with mature…
Deep learning has become the gold standard for image processing over the past decade. Simultaneously, we have seen growing interest in orbital activities such as satellite servicing and debris removal that depend on proximity operations…
We present a differentiable rendering framework to learn structured 3D abstractions in the form of primitive assemblies from sparse RGB images capturing a 3D object. By leveraging differentiable volume rendering, our method does not require…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…
This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission…
The scarcity of data acquired under actual space operational conditions poses a significant challenge for developing learning-based visual navigation algorithms crucial for autonomous spacecraft navigation. This data shortage is primarily…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Neural Radiance Fields (NeRFs) are a very recent and very popular approach for the problems of novel view synthesis and 3D reconstruction. A popular scene representation used by NeRFs is to combine a uniform, voxel-based subdivision of the…
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously…