相关论文: A Neuromorphic Vision-Based Measurement for Robust…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…

Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…

This paper studies the suitability of neuromorphic event-based vision cameras for spaceflight, and the effects of neutron radiation on their performance. Neuromorphic event-based vision cameras are novel sensors that implement asynchronous,…

Recent works based on deep learning and facial priors have succeeded in super-resolving severely degraded facial images. However, the prior knowledge is not fully exploited in existing methods, since facial priors such as landmark and…

Invariant Extended Kalman Filter (IEKF) has been a significant technique in vision-aided sensor fusion. However, it usually suffers from high computational burden when jointly optimizing camera poses and the landmarks. To improve its…

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

Equivariance to random image transformations is an effective method to learn landmarks of object categories, such as the eyes and the nose in faces, without manual supervision. However, this method does not explicitly guarantee that the…

The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency and ensure robot safety, we propose the Risk-aware…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame descriptors that could be used to determine distinctive visual landmarks for…

The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…

With the emergence of service robots and surveillance cameras, dynamic face recognition (DFR) in wild has received much attention in recent years. Face detection and head pose estimation are two important steps for DFR. Very often, the pose…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

During the past decade, interest has grown significantly in developing ultrasensitive widefield diamond magnetometry for various applications. Despite attempts to improve the adoption of conventional frame-based sensors, achieving high…

Neuromorphic, or event, cameras represent a transformation in the classical approach to visual sensing encodes detected instantaneous per-pixel illumination changes into an asynchronous stream of event packets. Their novelty compared to…

The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…

This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…