相关论文: Lunar Rover Localization Using Craters as Landmark…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…

Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the…

The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…

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…

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor settings such as agriculture and forestry, present unique…

Crater-Based Navigation (CBN) uses the ubiquitous impact craters of the Moon observed on images as natural landmarks to determine the six degrees of freedom pose of a spacecraft. To date, CBN has primarily been studied in the context of…

This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo…

Lunar-based gravitational-wave interferometry is a fascinating endeavor, and was proposed as a promising approach to bridge the observational gap between space-borne and ground-based detectors. In this work, we adopt the Fisher-matrix…

Tactful coordination on earth between hundreds of operators from diverse disciplines and backgrounds is needed to ensure that Martian rovers have a high likelihood of achieving their science goals while enduring the harsh environment of the…

The space challenges do exist at every stride on a human expedition to Mars that arise due to galactic natural phenomena and artificial technologies. This paper emphasizes on Mars orbital and planetary challenges encountered from orbit to…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…

Over eleven years into its mission, the Mars Science Laboratory remains vital to NASA's Mars exploration. Safeguarding the rover's long-term functionality is a top mission priority. In this study, we introduce and test undercomplete…

We propose GOTPR, a robust place recognition method designed for outdoor environments where GPS signals are unavailable. Unlike existing approaches that use point cloud maps, which are large and difficult to store, GOTPR leverages scene…