相关论文: An Image-Based Sensor System for Autonomous Rendez…

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…

On-orbit service is important for maintaining the sustainability of space environment. Space-based visible camera is an economical and lightweight sensor for situation awareness during on-orbit service. However, it can be easily affected by…

In this paper, we develop a novel super-resolution algorithm for near-field synthetic-aperture radar (SAR) under irregular scanning geometries. As fifth-generation (5G) millimeter-wave (mmWave) devices are becoming increasingly affordable…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…

We introduce BEVRender, a novel learning based approach for the localization of ground vehicles in Global Navigation Satellite System(GNSS)-denied off-road scenarios. These environments are typically challenging for conventional…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…

This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…

Unmanned Aerial Vehicles (UAVs) play an increasingly critical role in Intelligence, Surveillance, and Reconnaissance (ISR) missions such as border patrolling and criminal detection, thanks to their ability to access remote areas and…

This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…

Rapid technological advancements have tremendously increased the data acquisition capabilities of remote sensing satellites. However, the data utilization efficiency in satellite missions is very low. This growing data also escalates the…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

Deep models trained using synthetic data require domain adaptation to bridge the gap between the simulation and target environments. State-of-the-art domain adaptation methods often demand sufficient amounts of (unlabelled) data from the…

This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…

One of the major restrictions on the practical applications of unmanned aerial vehicles (UAV) is their incomplete self-sufficiency, which makes continuous operations infeasible without human oversights. The more oversight UAVs require, the…

This paper introduces a novel method using chaser spacecraft image processing and Convolutional Neural Networks (CNNs) to detect structural markers on the European Space Agency's (ESA) Environmental Satellite (ENVISAT) for safe de-orbiting.…

Recently, large vision-language models (LVLMs) unleash powerful analysis capabilities for low Earth orbit (LEO) satellite Earth observation images in the data center. However, fast satellite motion, brief satellite-ground station (GS)…

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…