相关论文: Vision-Based Terrain Relative Navigation on High-A…

For land use monitoring, the main problems are robust positioning in urban canyons and strong terrain reliefs with the use of GPS system only. Indeed, satellite signal reflection and shielding in urban canyons and strong terrain relief…

The past few years have witnessed the burst of drone-based applications where computer vision plays an essential role. However, most public drone-based vision datasets focus on detection and tracking. On the other hand, the performance of…

This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…

Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…

The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…

Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…

We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through self-supervised learning, and uses it for…

At a fraction the total cost of an equivalent orbital mission, scientific balloon-borne platforms, operating above 99.7% of the Earth's atmosphere, offer attractive, competitive, and effective observational capabilities -- namely space-like…

The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based…

We present a method for attaining sub-arcsecond pointing stability during sub- orbital balloon flights, as designed for in the High Altitude Lensing Observatory (HALO) concept. The pointing method presented here has the potential to perform…

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…

We present a publicly-available toolkit of flight-proven hardware and software to retrieve 5 TB of data or small physical samples from a stratospheric balloon platform. Before launch, a capsule is attached to the balloon, and rises with it.…

Recent interest in on-orbit servicing and Active Debris Removal (ADR) missions have driven the need for technologies to enable non-cooperative rendezvous manoeuvres. Such manoeuvres put heavy burden on the perception capabilities of a…

This paper addresses the lack of a general methodology for the controller synthesis of an optical instrument on-board a stratospheric balloon-borne platform, such as a telescope or siderostat, to meet pointing requirements that are becoming…

We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

This work presents the most recent advances of the Robotic Testbed for Rendezvous and Optical Navigation (TRON) at Stanford University - the first robotic testbed capable of validating machine learning algorithms for spaceborne optical…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…

The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…