Related papers: dLITE: Differentiable Lighting-Informed Trajectory…
Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…
With debris larger than 1 cm in size estimated to be over one million, precise cataloging efforts are essential to ensure space operations' safety. Compounding this challenge is the oversubscribed problem, where the sheer volume of space…
This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in…
We present SLIDE, a pipeline that enables transient discovery in data from the Vera C. Rubin Observatory's Legacy Survey of Space and Time (LSST), using archival images from the Dark Energy Camera (DECam) as templates for difference…
PLAnetary Transits and Oscillations of stars (PLATO) is a medium-class mission belonging to the European Space Agency (ESA) Cosmic Vision programme. The mission payload is composed of 26 telescopes and cameras which will observe…
This paper introduces a Distributed Unknown Input Observer (D-UIO) design methodology that uses a technique called node-wise detectability decomposition to estimate the state of a discrete-time linear time-invariant (LTI) system in a…
Low-light image enhancement (LLIE) is a crucial task in computer vision aimed at enhancing the visual fidelity of images captured under low-illumination conditions. Conventional methods frequently struggle with noise, overexposure, and…
Recently, the joint design of optical systems and downstream algorithms is showing significant potential. However, existing rays-described methods are limited to optimizing geometric degradation, making it difficult to fully represent the…
Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment:…
Line-intensity mapping (LIM) is an emerging technique to probe the large-scale structure of the Universe. By targeting the integrated intensity of specific spectral lines, it captures the emission from all sources and is sensitive to the…
Although significant progress has been made in enhancing visibility, retrieving texture details, and mitigating noise in Low-Light (LL) images, the challenge persists in applying current Low-Light Image Enhancement (LLIE) methods to…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
In recent years, the field of visual tracking has made significant progress with the application of large-scale training datasets. These datasets have supported the development of sophisticated algorithms, enhancing the accuracy and…
3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…
Image degradation caused by complex lighting conditions such as low-light and backlit scenarios is commonly encountered in real-world environments, significantly affecting image quality and downstream vision tasks. Most existing methods…
Low-Light Image Enhancement (LLIE) is a crucial computer vision task that aims to restore detailed visual information from corrupted low-light images. Many existing LLIE methods are based on standard RGB (sRGB) space, which often produce…
The integration of Optical Intelligent Reflective Surfaces (OIRSs) into Visible Light Communication (VLC) systems is gaining momentum as a valid alternative to RF technologies, harnessing the existing lighting infrastructures and the vast…
We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. Inspection planning, particularly of distributed targets in…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in…