Related papers: MARTIAN: A Rendering Framework for Aerial Mars Ima…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…
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…
The ever-changing transparency of the Martian atmosphere hinders the determination of absolute surface colour from spacecraft images. While individual high-resolution images from low orbit reveal numerous colour details of the geology, the…
Very-High Resolution (VHR) remote sensing imagery is increasingly accessible, but often lacks annotations for effective machine learning applications. Recent foundation models like GroundingDINO and Segment Anything (SAM) provide…
Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Integrating aerial imagery-based scene generation into applications like autonomous driving and gaming enhances realism in 3D environments, but challenges remain in creating detailed content for occluded areas and ensuring real-time,…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
Seasonal frosting and defrosting on the surface of Mars is hypothesized to drive both climate processes and the formation and evolution of geomorphological features such as gullies. Past studies have focused on manually analyzing the…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…
Accurate perception of lunar surfaces is critical for modern lunar exploration missions. However, developing robust learning-based perception systems is hindered by the lack of datasets that provide both geometric and photometric…
Autonomous precision navigation to land onto the Moon relies on vision sensors. Computer vision algorithms are designed, trained and tested using synthetic simulations. High quality terrain models have been produced by Moon orbiters…
Spacecraft autonomy can be enhanced by vision-based navigation (VBN) techniques. Applications range from manoeuvers around Solar System objects and landing on planetary surfaces, to in-orbit servicing or space debris removal. The…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
We report wind measurements within Martian dust devils observed in plan view from the High Resolution Imaging Science Experiment (HiRISE) orbiting Mars. The central color swath of the HiRISE instrument has three separate charge-coupled…