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

This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end of deployable booms for navigation of rough terrain such as…

Accurate waste disposal, at the point of disposal, is crucial to fighting climate change. When materials that could be recycled or composted get diverted into landfills, they cause the emission of potent greenhouse gases such as methane.…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…

Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Earth. To tackle this challenge, this paper studies the few-shot…

The continued exploration of Mars will require a greater number of in-space assets to aid interplanetary communications. Future missions to the surface of Mars may be augmented with stationary satellites that remain overhead at all times as…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…

This study presents a vision system for planetary rovers, combining real-time perception with offline terrain reconstruction. The real-time module integrates CLAHE enhanced stereo imagery, YOLOv11n based object detection, and a neural…

Mars is the next milestone in human exploration. However, there are still several challenges that must be assessed to ensure appropriate conditions in a future settlement. Communications services will be essential for this task, providing…

Benefiting from a relatively larger aperture's angle, and in combination with a wide transmitting bandwidth, near-field synthetic aperture radar (SAR) provides a high-resolution image of a target's scattering distribution-hot spots.…

The classification of large-scale high-resolution SAR land cover images acquired by satellites is a challenging task, facing several difficulties such as semantic annotation with expertise, changing data characteristics due to varying…

The training process of neural networks is known to be time-consuming, and having a deep architecture only aggravates the issue. This process consists mostly of matrix operations, among which matrix multiplication is the bottleneck. Several…

Over the last decade, machine learning has been extensively applied to identify malicious Android applications. However, such approaches remain vulnerable against adversarial examples, i.e., examples that are subtly manipulated to fool a…

Regressing 3D rotations of objects from 2D images is a crucial yet challenging task, with broad applications in autonomous driving, virtual reality, and robotic control. Existing rotation regression models often rely on large amounts of…

Exploration of the Red Planet is essential on the way through both human colonization and establishing a habitat on the planet. Due to the high costs of space missions, the use of distributed sensor networks has been investigated to make in…

We address the question of to what accuracy remote sensing images of the surface of planets can be matched, so that the possible displacement of features on the surface can be accurately measured. This is relevant in the context of the…

Vision Based Navigation consists in utilizing cameras as precision sensors for GNC after extracting information from images. To enable the adoption of machine learning for space applications, one of obstacles is the demonstration that…

Surface runoff shapes planetary landscapes, but global hydrological models often lack the resolution and flexibility to simulate dynamic surface water bodies beyond Earth. Recent studies of Mars have revealed abundant geological and…

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…

We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a novel fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as…