相关论文: Hardware-accelerated Mars Sample Localization via …

A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cache, fetch and return to Earth. In this paper, we focus on…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…

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…

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…

The search for extraterrestrial life has long been a primary focus of scientific exploration, driven by rapid advancements in technology and our understanding of the universe. The discovery of water on Mars has sparked significant interest,…

Space exploration increasingly relies on Virtual Reality for several tasks, such as mission planning, multidisciplinary scientific analysis, and astronaut training. A key factor for the reliability of the simulations is having accurate 3D…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

Space agencies have been incessantly working to propose a sustainable architecture for human Mars mission. But, before proceeding to a giant leap and accomplishing those mission intent, it is significant to know the extent of possibility to…

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…

Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…

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…

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…

Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…

Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…

Planetary rovers can use onboard data analysis to adapt their measurement plan on the fly, improving the science value of data collected between commands from Earth. This paper describes the implementation of an adaptive sampling algorithm…

The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…

The ExoMars mission of the program Aurora (ESA) aims to send a vehicle (Rover) on Mars in 2013. Beyond the technological aspects of the mission, the Rover will also carry scientific instruments for the analysis of Mars subsurface to search…

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…

Terrain traversability analysis plays a major role in ensuring safe robotic navigation in unstructured environments. However, real-time constraints frequently limit the accuracy of online tests especially in scenarios where realistic…