Related papers: Differential Corrections Algorithm for Initial Orb…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Short-arc orbit determination is crucial when an asteroid is first discovered. In these cases usually the observations are so few that the differential correction procedure may not converge. We have developed an initial orbit computation…
Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
While building up a catalog of Earth orbiting objects, if the available optical observations are sparse, not deliberate follow ups of specific objects, no orbit determination is possible without previous correlation of observations obtained…
Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…
A new Doppler radar initial orbit determination algorithm with embedded uncertainty quantification capabilities is presented. The method is based on a combination of Gauss' and Lambert's solvers. The whole process is carried out in the…
The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…
Arbitrary-oriented object detection (AOOD) is a challenging task to detect objects in the wild with arbitrary orientations and cluttered arrangements. Existing approaches are mainly based on anchor-based boxes or dense points, which rely on…
The motion distortion in LiDAR scans caused by aggressive robot motion and varying terrain features significantly impacts the positioning and mapping performance of 3D LiDAR odometry. Existing distortion correction solutions often struggle…
In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…
In this paper, novel approaches are developed to explore the dynamics of motion in periodic orbits near libration points in cislunar space using the Differential Algebra (DA) framework. The Circular Restricted Three-Body Problem (CR3BP)…
Cislunar space is the volume between Earth's geosynchronous orbit and beyond the Moon, including the lunar Lagrange points. Understanding the stability of orbits within this space is crucial for the successful planning and execution of…
The accuracy of object detectors and trackers is most commonly evaluated by the Intersection over Union (IoU) criterion. To date, most approaches are restricted to axis-aligned or oriented boxes and, as a consequence, many datasets are only…
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…
Current flight control validation is heavily based on linear analysis and high fidelity, nonlinear simulations. Continuing developments of nonlinear analysis tools for flight control has greatly enhanced the validation process. Many…
Periodic orbits are important objects of discrete dynamical systems, but finding them is not always easy. We present a self-contained introductory account, aimed at non-experts, to prove their existence and study their stability using the…
Given a set of astrometric observations of the same object, the problem of orbit determination is to compute the orbit and to assess its uncertainty and reliability. For the next generation surveys, with much larger number density of…