Related papers: High-accuracy Vision-Based Attitude Estimation Sys…
We consider the problem of estimating human pose and trajectory by an aerial robot with a monocular camera in near real time. We present a preliminary solution whose distinguishing feature is a dynamic classifier selection architecture. In…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…
Atmospheric aerosols have a major influence on the earths climate and public health. Hence, studying their properties and recovering them from light scattering measurements is of great importance. State of the art retrieval methods such as…
To overcome the short flight duration of drones, research on in-flight inductive power transfer has been recognized as an essential solution. Thus, it is important to accurately estimate and control the attitude of the drones which operate…
Estimating camera motion from monocular video is a fundamental problem in computer vision, central to tasks such as SLAM, visual odometry, and structure-from-motion. Existing methods that recover the camera's heading under known rotation,…
Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on smartphones using Variable Speed Control Moment Gyroscope (VSCMG) as actuator is proposed here. A spacecraft ground simulator…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Spacecraft pose estimation networks require tens of thousands of CAD-rendered images to be trained. This reliance on synthetic CAD data (i) limits applicability to targets with reliable geometry prior, excluding uncooperative or poorly…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
We have developed a low-cost off-the-shelf component star sensor (StarSense) for use in minisatellites and CubeSats to determine the attitude of a satellite in orbit. StarSense is an imaging camera with a limiting magnitude of 6.5, which…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…
The star tracker is generally affected by the atmospheric background light and the aerodynamic environment when working in near space, which results in missing stars or false stars. Moreover, high-speed maneuvering may cause star trailing,…
Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…