相关论文: Initial Orbit Determination from Only Heading Meas…
Inertial navigation and attitude initialization in polar areas become a hot topic in recent years in the navigation community, as the widely-used navigation mechanization of the local level frame encounters the inherent singularity when the…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Very low Earth orbits (VLEO), typically classified as orbits below approximately 450 km in altitude, have the potential to provide significant benefits to spacecraft over those that operate in higher altitude orbits. This paper provides a…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
Visual odometry aims to track the incremental motion of an object using the information captured by visual sensors. In this work, we study the point cloud odometry problem, where only the point cloud scans obtained by the LiDAR (Light…
We propose two algorithms to provide a full preliminary orbit of an Earth-orbiting object with a number of observations lower than the classical methods, such as those by Laplace and Gauss. The first one is the Virtual debris algorithm,…
Since Intersection-over-Union (IoU) based optimization maintains the consistency of the final IoU prediction metric and losses, it has been widely used in both regression and classification branches of single-stage 2D object detectors.…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
Echocardiography is a key imaging modality for cardiac assessment but remains highly operator-dependent, and access to trained sonographers is limited in underserved settings. Teleoperated robotic echocardiography has been proposed as a…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
ASTROD I is a planned interplanetary space mission with multiple goals. The primary aims are: to test General Relativity with an improvement in sensitivity of over 3 orders of magnitude, improving our understanding of gravity and aiding the…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
We deal with the presence of topological defects in models for two real scalar fields. We comment on defects hosting topological defects, and we search for explicit defect solutions using the trial orbit method. As we know, under certain…
The rich information content of measurements in the molecular frame rather than the laboratory frame has motivated the development of several methods for aligning gas phase molecules in space. Even so, for asymmetric tops the problem of…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
The existing techniques for measuring high-dimensional pure states of light in the orbital angular momentum (OAM) basis either involve a large number of single-pixel data acquisitions and substantial postselection errors that increase with…
Temporal or spatial structures are readily extracted from complex data by modal decompositions like Proper Orthogonal Decomposition (POD) or Dynamic Mode Decomposition (DMD). Subspaces of such decompositions serve as reduced order models…