相关论文: Initial Orbit Determination from Only Heading Meas…

An innovative orbit determination method which makes use of gravity gradients for Low-Earth-Orbiting satellites is proposed. The measurement principle of gravity gradiometry is briefly reviewed and the sources of measurement error are…

In recent years, the technology in visual-inertial odometry (VIO) has matured considerably and has been widely used in many applications. However, we still encounter challenges when applying VIO to a micro air vehicle (MAV) equipped with a…

We introduce a new method to perform preliminary orbit determination for space debris on low Earth orbits (LEO). This method works with tracks of radar observations: each track is composed by $n\ge 4$ topocentric position vectors per pass…

Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of…

The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…

Orbit determination is possible for a chaotic orbit of a dynamical system, given a finite set of observations, provided the initial conditions are at the central time. In a simple discrete model, the standard map, we tackle the problem of…

Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…

Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…

The hodograph, i.e. the path traced by a body in velocity space, was introduced by Hamilton in 1846 as an alternative for studying certain dynamical problems. The hodograph of the Kepler problem was then investigated and shown to be a…

Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can…

The first integrals of the Kepler problem are used to compute preliminary orbits starting from two short observed arcs of a celestial body, which may be obtained either by optical or radar observations. We write polynomial equations for…

In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…

Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

Here we revisit an initial orbit determination method introduced by O. F. Mossotti employing four geocentric sky-plane observations and a linear equation to compute the angular momentum of the observed body. We then extend the method to…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

The hodograph of the Kepler-Coulomb problem, that is, the path traced by its velocity vector, is shown to be a circle and then it is used to investigate other properties of the motion. We obtain the configuration space orbits of the problem…