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Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…
We present two efficient numerical methods for susceptibility artifact correction applicable in Echo Planar Imaging (EPI), an ultra fast Magnetic Resonance Imaging (MRI) technique widely used in clinical applications. Both methods address a…
Agile satellites are the new generation of Earth observation satellites (EOSs) with stronger attitude maneuvering capability. Since optical remote sensing instruments equipped on satellites cannot see through the cloud, the cloud coverage…
Exoplanet detection and characterization through extreme adaptive optics (ExAO) is a key science goal of future extremely large telescopes. This achievement, however, will be limited in sensitivity by both quasi-static wavefront errors and…
Identification of linear features (streaks) in astronomical images is important for several reasons, including: detecting fast-moving near-Earth asteroids; detecting or flagging faint satellites streaks; and flagging or removing diffraction…
Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, \ie{the static world assumption for simultaneous…
Unsupervised domain adaptation is one of the challenging problems in computer vision. This paper presents a novel approach to unsupervised domain adaptations based on the optimal transport-based distance. Our approach allows aligning target…
We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
Tasks for autonomous robotic systems commonly require stabilization to a desired region while maintaining safety specifications. However, solving this multi-objective problem is challenging when the dynamics are nonlinear and…
The Earth observation satellites (EOSs) scheduling is of great importance to achieve efficient observation missions. The agile EOSs (AEOS) with stronger attitude maneuvering capacity can greatly improve observation efficiency while…
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver…
Modern Earth Observation (EO) missions generate massive volumes of imagery that challenge existing downlink and ground-processing capabilities, particularly for time-critical applications. This work investigates how a low Earth orbit (LEO)…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Space-time adaptive processing (STAP) is an effective tool for detecting a moving target in the airborne radar system. Due to the fast-changing clutter scenario and/or non side-looking configuration, the stationarity of the training data is…
The future large adaptive telescopes will trigger new constraints for the calibration of Adaptive Optics (AO) systems equipped with pre-focal Deformable Mirrors (DM). The image of the DM actuators grid as seen by the Wave-Front Sensor (WFS)…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
This paper solves and analyzes a trajectory optimization problem to deflect Earth-crossing objects (ECOs) employing continuous thrust obtained using a laser ablative system. The optimal control is determined for various initial ECO-Earth…
Earth Observation Satellite Planning (EOSP) is a difficult optimization problem with considerable practical interest. A set of requested observations must be scheduled on an agile Earth observation satellite while respecting constraints on…