Related papers: Design of a Visual Pose Estimation Algorithm for M…
An innovative orbit determination method which makes use of gravity gradients for Low-Earth-Orbiting satellites is proposed. The measurement principle of gravity gradiometry is briefly reviewed and the sources of measurement error are…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…
Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
We present a generic algorithm for performing astronomical image registration and pointing refinement. The method is based on matching the positions and fluxes of available point sources in image overlap regions. This information is used to…
Deep models trained using synthetic data require domain adaptation to bridge the gap between the simulation and target environments. State-of-the-art domain adaptation methods often demand sufficient amounts of (unlabelled) data from the…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
This paper presents a set of novel scan-matching techniques for vehicle pose estimation using automotive radar measurements. The proposed approach modifies the Normal Distributions Transform (NDT) -- a state-of-the-art scan-matching SLAM…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
Event-based cameras (EBCs) are a promising new technology for star tracking-based attitude determination, but prior studies have struggled to determine accurate ground truth for real data. We analyze the accuracy of an EBC star tracking…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…