相关论文: Rover Relocalization for Mars Sample Return by Vir…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
The Mars Perseverance rover applies computer vision for navigation and hazard avoidance. The challenge to do onboard object recognition highlights the need for low-power, customized training, often including low-contrast backgrounds. We…
As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Planetary rover missions must utilize machine learning-based perception to continue extra-terrestrial exploration with little to no human presence. Martian terrain segmentation has been critical for rover navigation and hazard avoidance to…
Aerial navigation on Mars requires vision-based pipelines that are robust to the diverse illumination conditions and terrain morphology of the Martian surface. A key bottleneck for training and evaluating such methods is the scarcity of…
Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…
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…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Reference-based image super-resolution (RefSR) has shown promising success in recovering high-frequency details by utilizing an external reference image (Ref). In this task, texture details are transferred from the Ref image to the…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…
Deep learning has become a powerful tool for Mars exploration. Mars terrain semantic segmentation is an important Martian vision task, which is the base of rover autonomous planning and safe driving. However, there is a lack of sufficient…
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…
This work tackles the challenging task of achieving real-time novel view synthesis for reflective surfaces across various scenes. Existing real-time rendering methods, especially those based on meshes, often have subpar performance in…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
The Artemis program requires robotic and crewed lunar rovers for resource prospecting and exploitation, construction and maintenance of facilities, and human exploration. These rovers must support navigation for 10s of kilometers (km) from…