相关论文: Mars Rover Localization Based on A2G Obstacle Dist…

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…

This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…

The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…

As wireless researchers are tasked to enable wireless communication as infrastructure in more dynamic aerial settings, there is a growing need for large-scale experimental platforms that provide realistic, reproducible, and reliable…

Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of…

Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…

Localization of a radio frequency (RF) transmitter with intermittent transmissions is considered via a group of unmanned aerial vehicles (UAVs) equipped with omnidirectional received signal strength (RSS) sensors. This group embarks on an…

Automatic terrain recognition in Mars rover images is an important problem not just for navigation, but for scientists interested in studying rock types, and by extension, conditions of the ancient Martian paleoclimate and habitability.…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…

This paper introduces ISS-Geo142, a curated benchmark for geolocating astronaut photography captured from the International Space Station (ISS). Although the ISS position at capture time is known precisely, the specific Earth locations…

The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited…

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…

Performing orbital insertion around Mars using aerocapture instead of a propulsive orbit insertion manoeuvre allows to save resources and/or increase the payload mass fraction. Aerocapture has never been employed to date because of the high…

Astronaut photography, spanning six decades of human spaceflight, presents a unique Earth observations dataset with immense value for both scientific research and disaster response. Despite its significance, accurately localizing the…

The integration of vision-based frameworks to achieve lunar robot applications faces numerous challenges such as terrain configuration or extreme lighting conditions. This paper presents a generic task pipeline using object detection,…

Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…

In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…