Related papers: Design of a Visual Pose Estimation Algorithm for M…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
Accurate satellite pose estimation is crucial for autonomous guidance, navigation, and control (GNC) systems in in-orbit servicing (IOS) missions. This paper explores the impact of different tasks within a multi-task learning (MTL)…
This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…
This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
As space missions aim to explore increasingly hazardous terrain, accurate and timely position estimates are required to ensure safe navigation. Vision-based navigation achieves this goal through correlating impact craters visible through…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Machine learning, and eventually true artificial intelligence techniques, are extremely important advancements in astrophysics and astronomy. We explore the application of deep learning using neural networks in order to automate the…
Crater-Based Navigation (CBN) uses the ubiquitous impact craters of the Moon observed on images as natural landmarks to determine the six degrees of freedom pose of a spacecraft. To date, CBN has primarily been studied in the context of…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Spacecraft pose estimation is an essential computer vision application that can improve the autonomy of in-orbit operations. An ESA/Stanford competition brought out solutions that seem hardly compatible with the constraints imposed on…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…