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

This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…

The use of Global Navigation Satellite Systems (GNSS) to increase spacecraft autonomy for orbit determination has gained renewed momentum following the Lunar GNSS Receiver Experiment (LuGRE), which demonstrated feasible onboard GPS and…

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 paper presents a novel Transformer-based facial landmark localization network named Localization Transformer (LOTR). The proposed framework is a direct coordinate regression approach leveraging a Transformer network to better utilize…

Localization is a fundamental requirement for an autonomous vehicle system. One of the most often used systems for autonomous vehicle localization is the global positioning system (GPS). Nevertheless, the functionality of GPS is strongly…

The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…

Martian terrain recognition is pivotal for advancing our understanding of topography, geomorphology, paleoclimate, and habitability. While deep clustering methods have shown promise in learning semantically homogeneous feature embeddings…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…

The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…

This work investigates the use of stellar occultation measurements to enhance the orbit determination performance of the Lunar Meteoroid Impact Observer (LUMIO) mission, operating from a quasi-Halo orbit around the Earth-Moon L2 point.…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…

We address the challenge of enhancing navigation autonomy for planetary space rovers using reinforcement learning (RL). The ambition of future space missions necessitates advanced autonomous navigation capabilities for rovers to meet…

Precise measurements of the Earth-Moon distance by the lunar laser ranging (LLR), which begun in the early 1970's, contributed significantly to geodesy, geophysics, and lunar planetology, as well as enabled astrophysicists to perform…

Scientific imaging of the Moon, Mars, and other celestial bodies is often accomplished with pushbroom cameras. Craters with elliptical rims are common objects of interest within the images produced by such sensors. This work provides a…

The European Moon Rover System (EMRS) Pre-Phase A activity is part of the European Exploration Envelope Programme (E3P) that seeks to develop a versatile surface mobility solution for future lunar missions. These missions include: the Polar…

We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…

Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…