相关论文: Vision-Based Estimation of Small Body Rotational S…

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…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Asteroid modeling efforts in the last decade resulted in a comprehensive dataset of almost 400 convex shape models and their rotation states. This amount already provided a deep insight into physical properties of main-belt asteroids or…

External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…

As evidenced by recent survey results, majority of asteroids are slow rotators (P>12 h), but lack spin and shape models due to selection bias. This bias is skewing our overall understanding of the spins, shapes, and sizes of asteroids, as…

Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between 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…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

This study presents an effective autofocusing approach for synthetic aperture radar imaging of the human body under conditions of respiratory motion. The proposed method suppresses respiratory-motion-induced phase errors by separating radar…

The interest in the problem of small asteroids observed shortly before a deep close approach or an impact with the Earth has grown a lot in recent years. Since the observational dataset of such objects is very limited, they deserve…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

This article addresses the challenge of vision-based proximity navigation in asteroid exploration missions and on-orbit servicing. Traditional feature extraction methods struggle with the significant appearance variations of asteroids due…

We present a novel empirical method for correcting asteroid phase curves for rotational and geometrical effects using precomputed spin-and-shape models. Our approach normalizes sparse photometric data to a pole-on geometry, enabling…

We propose a system that estimates people's body and head orientations using low-resolution point cloud data from two LiDAR sensors. Our models make accurate estimations in real-world conversation settings where subjects move naturally with…

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…

This study proposes an accurate method to estimate human body orientation using a millimeter-wave radar system. Body displacement is measured from the phase of the radar echo, which is analyzed to obtain features associated with the…

This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…

Orbit-determination programs find the orbit solution that best fits a set of observations by minimizing the RMS of the residuals of the fit. For near-Earth asteroids, the uncertainty of the orbit solution may be compatible with trajectories…

We present $V$-band photometry of the 20,000 brightest asteroids using data from the All-Sky Automated Survey for Supernovae (ASAS-SN) between 2012 and 2018. We were able to apply the convex inversion method to more than 5,000 asteroids…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…