相关论文: Rover Relocalization for Mars Sample Return by Vir…

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…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

Map-free relocalization technology is crucial for applications in autonomous navigation and augmented reality, but relying on pre-built maps is often impractical. It faces significant challenges due to limitations in matching methods and…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…

Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…

This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…

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…

One of the main objectives of the Mars Exploration Program is to search for evidence of past or current life on the planet. To achieve this, Mars exploration has been focusing on regions that may have liquid or frozen water. A set of…

Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…

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…

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

The Mars Reconnaissance Orbiter (MRO) spacecraft has been in orbit around Mars since March 2006. The Context Camera (CTX) on MRO has returned over 100,000 images of the planet at approximately 5-6 meters per pixel, providing nearly global…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

The Mars Perseverance Rover represents a generational change in the scale of measurements that can be taken on Mars, however this increased resolution introduces new challenges for techniques in exploratory data analysis. The multiple…

Instance-level image retrieval is the task of searching in a large database for images that match an object in a query image. To address this task, systems usually rely on a retrieval step that uses global image descriptors, and a…

Visual Place Recognition (VPR) is a critical task in computer vision, traditionally enhanced by re-ranking retrieval results with image matching. However, recent advancements in VPR methods have significantly improved performance,…