Related papers: Differential Corrections Algorithm for Initial Orb…
Oriented object detection is a challenging task in aerial images since the objects in aerial images are displayed in arbitrary directions and are frequently densely packed. The mainstream detectors describe rotating objects using a…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
We consider non-differentiable dynamic optimization problems such as those arising in robotics and subspace tracking. Given the computational constraints and the time-varying nature of the problem, a low-complexity algorithm is desirable,…
Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first turning. In this paper, firstly we perform an observability…
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous…
In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-based features results in severe difficulties for state…
A simple procedure is developed to determine orbital elements of an object orbiting in a central force field which contribute more than three independent celestial positions. By manipulation of formal three point Gauss method of orbit…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…
This study presents an autonomous orbit determination system based on crosslink radiometric measurements applied to a future lunar CubeSat mission to clearly highlight its advantages with respect to existing ground-based navigation…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
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…
We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor's velocity from a single scan. The…
First order optimization algorithms play a major role in large scale machine learning. A new class of methods, called adaptive algorithms, were recently introduced to adjust iteratively the learning rate for each coordinate. Despite great…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
We present an algorithm to compute the minimum orbital intersection distance (MOID), or global minimum of the distance between the points lying on two Keplerian ellipses. This is achieved by finding all stationary points of the distance…
The traffic in cislunar space is expected to increase over the coming years, leading to a higher likelihood of conjunction events among active satellites, orbital debris, and non-cooperative satellites. This increase necessitates enhanced…