相关论文: Machine Vision based Sample-Tube Localization for …
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…
In this paper, we will first introduce a novel multiscale representation (MSR) for shapes. Based on the MSR, we will then design a surface inpainting algorithm to recover 3D geometry of blood vessels. Because of the nature of irregular…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Remote sensing observations and Mars rover missions have recorded the presence of beaches, salt lakes, and wind erosion landforms in Martian sediments. All these observations indicate that Mars was hydrated in its early history. There used…
State-of-the-art methods for mesh detailization predominantly utilize Generative Adversarial Networks (GANs) to generate detailed meshes from coarse ones. These methods typically learn a specific style code for each category or similar…
Much progress has been made in the supervised learning of 3D reconstruction of rigid objects from multi-view images or a video. However, it is more challenging to reconstruct severely deformed objects from a single-view RGB image in an…
Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…
Terraforming Mars is an age old science fiction concept now worth revisiting through the lens of modern science and technology. This document serves as a summary of contemporary ideas about Mars terraforming, prepared for attendees of the…
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces, focusing on manipulation of deformable objects. We propose a Latent Space Roadmap (LSR) for task planning which is a…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Over the years, space scientists have collected terabytes of Mars data from satellites and rovers. One important set of features identified in Mars orbital images is pitted cones, which are interpreted to be mud volcanoes believed to form…
Surfaces are typically represented as meshes, which can be extracted from volumetric fields via meshing or optimized directly as surface parameterizations. Volumetric representations occupy 3D space and have a large effective receptive…
In this paper we show that Sun-viewing images obtained by the Mars Science Laboratory (MSL) Navigation Cameras (Navcam) can be used for retrieving the dust optical depth and constrain the aerosol physical properties at Gale Crater by…
To recover the three dimensional (3D) volumetric distribution of matter in an object, images of the object are captured from multiple directions and locations. Using these images tomographic computations extract the distribution. In highly…
Machine learning techniques are utilised in several areas of astrophysical research today. This dissertation addresses the application of ML techniques to two classes of problems in astrophysics, namely, the analysis of individual…
Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…
We present PLUMES, a planner to localizing and collecting samples at the global maximum of an a priori unknown and partially observable continuous environment. The "maximum-seek-and-sample" (MSS) problem is pervasive in the environmental…
Temporal grounding aims to localize a video moment which is semantically aligned with a given natural language query. Existing methods typically apply a detection or regression pipeline on the fused representation with the research focus on…
We propose to formulate point cloud extraction from ultrasound volumes as an image segmentation problem. Through this convenient formulation, a quick prototype exploring various variants of the Residual Network, U-Net, and the Squeeze and…
The principal goal of the NASA Terrestrial Planet Finder (TPF) and ESA Darwin mission concepts is to directly detect and characterize extrasolar terrestrial (Earth-sized) planets. This first generation of instruments is expected to provide…