Related papers: Design of a Visual Pose Estimation Algorithm for M…
Recovering the absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation,…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
Pose estimation of an uncooperative space resident object is a key asset towards autonomy in close proximity operations. In this context monocular cameras are a valuable solution because of their low system requirements. However, the…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Astrometry plays a crucial role in understanding the structure, dynamics, and evolution of celestial objects by providing precise measurements of their positions and motions. We propose a new approach to wide-field, relative astrometry,…
Improvement of the prediction accuracy of the Earth's rotation parameters (ERP) is one of the main problems of applied astrometry. In order to solve this problem, various approaches are used and in order to select the best one, comparison…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…
The detectability of moons of extra-solar planets is investigated, focussing on the time-of-arrival perturbation technique, a method for detecting moons of pulsar planets, and the photometric transit timing technique, a method for detecting…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…
We develop a direct geometric method to determine the orbital parameters and mass of a planet, and we then apply the method to Neptune using high-precision data for the other planets in the solar system. The method is direct in the sense…
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,…
Accurate and real-time 6-DoF localization is mission-critical for autonomous lunar landing, yet existing approaches remain limited: visual odometry (VO) drifts unboundedly, while map-based absolute localization fails in texture-sparse or…
The Moon is a primary focus of space exploration. Current navigation methods face significant limitations in providing precise location data for lunar missions. In particular, existing methods often require direct Line of Sight to Earth,…
This paper presents the preliminary design of the descent and landing trajectory of the ESA Argonaut lunar lander. The mission scenario and driving system constraints are presented and accounted for in the design of a fuel-optimal…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…