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

Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…

In this paper we propose to bridge the gap between using extremely low resolution 1-bit measurements and estimating targets' parameters, such as their velocities, that exist in a continuum, i.e., by performing Off-the-Grid estimation. To…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn…

Accurate proprioceptive odometry is fundamental for legged robot navigation in GPS-denied and visually degraded environments where conventional visual odometry systems fail. Current approaches face critical limitations: analytical filtering…

Recent investigations (e.g. Han et al. 2001) have shown that fitting the Hipparcos observations with an orbital model when the astrometric wobble caused by the companion is below the noise level can have rather unexpected consequences. With…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

Orbit separation dimension (OSD), previously introduced as amorphic complexity, is a powerful complexity measure for topological dynamical systems with pure-point spectrum. Here, we develop methods and tools for it that allow a systematic…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information…

Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make…

Radiation is crucial not only for observing astrophysical objects, but also for transporting energy and momentum. However, accurate on-the-fly radiation transport in astrophysical simulations is challenging and computationally expensive.…

A novel approach for measuring fast oscillations of an absolute value of interferometer optical path difference (OPD) has been developed. The principles of frequency-scanning interferometry are utilized for registration of the…

We establish new results and introduce new methods in the theory of measurable orbit equivalence, using bounded cohomology of group representations. Our rigidity statements hold for a wide (uncountable) class of groups arising from negative…

A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…

We present a procedure for determination of positions and orbital elements, and associated uncertainties, of outer Solar System planets. The orbit-fitting procedure is greatly streamlined compared to traditional methods because acceleration…