Related papers: Sun sensor calibration algorithms: A systematic ma…
We present a simple, free, fast and accurate C/C++ and Python routine called SolTrack, which can compute the position of the Sun at any instant and any location on Earth. The code allows tracking of the Sun using a low-specs embedded…
This work introduces a method that applies images of the extended bodies in the solar system to spacecraft camera calibration. The extended bodies consist of planets and moons that are well-modeled by triaxial ellipsoids. When imaged, the…
Scientific understanding is a fundamental goal of science, allowing us to explain the world. There is currently no good way to measure the scientific understanding of agents, whether these be humans or Artificial Intelligence systems.…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Breakthroughs in our understanding of physical phenomena have traditionally followed improvements in instrumentation. Studies of the magnetic field of the Sun, and its influence on the solar dynamo and space weather events, have benefited…
Fault diagnosis is the problem of determining a set of faulty system components that explain discrepancies between observed and expected behavior. Due to the intrinsic relation between observations and sensors placed on a system, sensors'…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Sensor visibility is crucial for safety-critical applications in automotive, robotics, smart infrastructure and others: In addition to object detection and occupancy mapping, visibility describes where a sensor can potentially measure or is…
Instruments for radio astronomical observations have come a long way. While the first telescopes were based on very large dishes and 2-antenna interferometers, current instruments consist of dozens of steerable dishes, whereas future…
Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…
Active Position Estimation (APE) is the task of localizing one or more targets using one or more sensing platforms. APE is a key task for search and rescue missions, wildlife monitoring, source term estimation, and collaborative mobile…
Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…
The Physics of the Accelerating Universe (PAU) camera is an optical narrow band and broad band imaging instrument mounted at the prime focus of the William Herschel Telescope. We describe the image calibration procedure of the PAU Survey…
Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which the weights are determined from the inverse covariance of…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…
The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. We consider various measures of the observability matrix as the assignment value function. We first…