Related papers: Vision-Guided Optic Flow Navigation for Small Luna…
Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…
Computing optical flow is a fundamental problem in computer vision. However, deep learning-based optical flow techniques do not perform well for non-rigid movements such as those found in faces, primarily due to lack of the training data…
This work presents a low-cost robot, controlled by a Raspberry Pi, whose navigation system is based on vision. The strategy used consisted of identifying obstacles via optical flow pattern recognition. Its estimation was done using the…
Monocular optical flow has been widely used to detect obstacles in Micro Air Vehicles (MAVs) during visual navigation. However, this approach requires significant movement, which reduces the efficiency of navigation and may even introduce…
Dense ground displacement measurements are crucial for geological studies but are impractical to collect directly. Traditionally, displacement fields are estimated using patch matching on optical satellite images from different acquisition…
This paper presents a navigation strategy to fly to the Moon along a Weak Stability Boundary transfer trajectory. A particular strategy is devised to ensure capture into an uncontrolled relatively stable orbit at the Moon. Both uncertainty…
Optical flow estimation is one of the fundamental tasks in low-level computer vision, which describes the pixel-wise displacement and can be used in many other tasks. From the apparent aspect, the optical flow can be viewed as the…
Despite recent advances, estimating optical flow remains a challenging problem in the presence of illumination change, large occlusions or fast movement. In this paper, we propose a novel optical flow estimation framework which can provide…
Optical flow estimation is very challenging in situations with transparent or occluded objects. In this work, we address these challenges at the task level by introducing Amodal Optical Flow, which integrates optical flow with amodal…
Optical flow estimation is a well-studied topic for automated driving applications. Many outstanding optical flow estimation methods have been proposed, but they become erroneous when tested in challenging scenarios that are commonly…
Significant attention has been attracted to deep learning-based depth estimates. Dynamic objects become the most hard problems in inter-frame-supervised depth estimates due to the uncertainty in adjacent frames. Thus, integrating optical…
Miniature Micro Aerial Vehicles (MAV) are very suitable for flying in indoor environments, but autonomous navigation is challenging due to their strict hardware limitations. This paper presents a highly efficient computer vision algorithm…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
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…
The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to…