Related papers: Design of a Visual Pose Estimation Algorithm for M…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
The goal of the proposed method is to directly obtain a pose matrix of a known rectangular target, without estimation, using geometric techniques. This method is specifically tailored for real-time, extreme imaging setups exceeding…
The determination of the absolute and relative position of a spacecraft is critical for its operation, observations, data analysis, scientific studies, as well as deep space exploration in general. A spacecraft that can determine its own…
Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…
Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…
Image goal navigation requires two different skills: firstly, core navigation skills, including the detection of free space and obstacles, and taking decisions based on an internal representation; and secondly, computing directional…
A novel control & software architecture using ROS C++ is introduced for object interception by a UAV with a mounted depth camera and no external aid. Existing work in trajectory prediction focused on the use of off-board tools like motion…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
Several physical mechanisms are involved in excavating granular materials beneath a vertical jet of gas. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. A series of experiments and…
Airborne optical sectioning, an effective aerial synthetic aperture imaging technique for revealing artifacts occluded by forests, requires precise measurements of drone poses. In this article we present a new approach for reducing pose…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Reliable relative pose estimation is a key enabler for autonomous rendezvous and proximity operations, yet space imagery is notoriously challenging due to extreme illumination, high contrast, and fast target motion. Event cameras provide…
The paper deals with the error analysis of a navigation algorithm that uses as input a sequence of images acquired by a moving camera and a Digital Terrain Map (DTM) of the region been imaged by the camera during the motion. The main…