相关论文: Evaluation of 3D CNN Semantic Mapping for Rover Na…
In this paper, we build autoencoders to learn a latent space from unlabeled image datasets obtained from the Mars rover. Then, once the latent feature space has been learnt, we use k-means to cluster the data. We test the performance of the…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
This study presents a vision system for planetary rovers, combining real-time perception with offline terrain reconstruction. The real-time module integrates CLAHE enhanced stereo imagery, YOLOv11n based object detection, and a neural…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…
This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric…
The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
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…
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…
Autonomous Raman instruments on Mars rovers, deep-sea landers, and field robots must interpret raw spectra distorted by fluorescence baselines, peak shifts, and limited ground-truth labels. Using curated subsets of the RRUFF database, we…
Robot navigation in unstructured environments requires multimodal perception systems that can support safe navigation. Multimodality enables the integration of complementary information collected by different sensors. However, this…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Planetary exploration increasingly relies on autonomous robotic systems capable of perceiving, interpreting, and reconstructing their surroundings in the absence of global positioning or real-time communication with Earth. Rovers operating…
Planetary rover systems need to perform terrain segmentation to identify drivable areas as well as identify specific types of soil for sample collection. The latest Martian terrain segmentation methods rely on supervised learning which is…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…
In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches…