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

Arbitrary-oriented object detection has been a building block for rotation sensitive tasks. We first show that the boundary problem suffered in existing dominant regression-based rotation detectors, is caused by angular periodicity or…

Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

This paper is concerned with an inverse moving point source problem in electromagnetics. The aim is to reconstruct the moving orbit from the tangential components of magnetic fields taken at a finite number of observation points. The…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

While building up a catalog of Earth orbiting objects, if the available optical observations are sparse, not deliberate follow ups of specific objects, no orbit determination is possible without previous correlation of observations obtained…

Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first turning. In this paper, firstly we perform an observability…

LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…

Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

Low Earth orbit (LEO) satellites offer a promising alternative to global navigation satellite systems for precise positioning; however, their relatively low altitudes make them more susceptible to orbital perturbations, which in turn…

As a key technology for autonomous navigation and positioning in mobile robots, light detection and ranging (LiDAR) odometry is widely used in autonomous driving applications. The Iterative Closest Point (ICP)-based methods have become the…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…

We deal with the orbit determination problem for hyperbolic maps. The problem consists in determining the initial conditions of an orbit and, eventually, other parameters of the model from some observations. We study the behaviour of the…

Short-arc orbit determination is crucial when an asteroid is first discovered. In these cases usually the observations are so few that the differential correction procedure may not converge. We have developed an initial orbit computation…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…

State estimation in complex illumination environments based on conventional visual-inertial odometry is a challenging task due to the severe visual degradation of the visual camera. The thermal infrared camera is capable of all-day time and…