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In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…
This paper investigates an autonomous navigation method for spacecraft operating in the outer solar system, up to 250 AU from the Sun, using the parallactic shifts of nearby stars. These measurements enable estimation of the spacecraft…
In situ and remotely sensed observations have potential to facilitate data-driven predictive models for oceanography. A suite of machine learning models, including regression, decision tree and deep learning approaches were developed to…
In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross-modal stereo sonar setup that consists of both a…
Making material experiments more efficient is a high priority for materials scientists who seek to discover new materials with desirable properties. In this paper, we investigate how to optimize the laborious sequential measurements of…
Multivariate measurements taken at different spatial locations occur frequently in practice. Proper analysis of such data needs to consider not only dependencies on-sight but also dependencies in and in-between variables as a function of…
Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the…
Small-angle neutron scattering (SANS) is a powerful technique for probing the nanoscale structure of materials. However, the fundamental limitations of neutron flux pose significant challenges for rapid, high-fidelity data acquisition…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
We present here the first application of Stellar and Exoplanetary Atmospheres Bayesian Analysis Simultaneous Spectroscopy (SEA BASS) on real datasets. SEA BASS is a scheme that enables the simultaneous derivation of four-coefficient stellar…
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…
Modern maritime navigation and control systems rely on digital sensing, estimation, and communication pipelines that fuse GNSS, radar, inertial, and AIS data through approaches such as Kalman-filter-based estimators. While these…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Person search aims to localize specific a target person from a gallery set of images with various scenes. As the scene of moving pedestrian changes, the captured person image inevitably bring in lots of background noise and foreground noise…
In this paper, we introduce source domain subset sampling (SDSS) as a new perspective of semi-supervised domain adaptation. We propose domain adaptation by sampling and exploiting only a meaningful subset from source data for training. Our…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…