Related papers: Design of a Visual Pose Estimation Algorithm for M…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…
Construction of the precise shape of an asteroid is critical for spacecraft operations as the gravitational potential is determined by spatial mass distribution. The typical approach to shape determination requires a prolonged mapping phase…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…
Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain. In-situ proprioceptive processes for rovers to estimate…
To obtain a high-accuracy position with SINS(Strapdown Inertial Navigation System), initial alignment needs to determine initial attitude rapidly and accurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain the initial…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
Crater counting on the Moon and other bodies is crucial to constrain the dynamical history of the Solar System. This has traditionally been done by visual inspection of images, thus limiting the scope, efficiency, and/or accuracy of…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…
This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel fault detection framework for satellite constellations using inter-satellite ranging (ISR). Traditionally,…
6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
To improve ATR identification of ships at sea requires an advanced ISAR processor - one that not only provides focused images but can also determine the pose of the ship. This tells us whether the image shows a profile (vertical plane)…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…