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

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Given a set of astrometric observations of the same object, the problem of orbit determination is to compute the orbit and to assess its uncertainty and reliability. For the next generation surveys, with much larger number density of…

The Large Synoptic Survey Telescope (LSST) will be a ground-based, optical, all-sky, rapid cadence survey project with tremendous potential for discovering and characterizing asteroids. With LSST's large 6.5m diameter primary mirror, a wide…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

Planetary bodies such as asteroids, comets, and planetary moons are high-value science targets as they hold important information about the formation and evolution of our solar system. However, due to their low-gravity, variable sizes and…

Based on the value of the orbital eccentricity of a particle and also its proximity to the exact resonant orbit in a three-body system, the Pendulum Approximation (Dermott & Murray 1983) or the Second Fundamental Model of Resonance (Andoyer…

The GBOT group is in charge of the Ground Based Optical Tracking of the Gaia satellite. In concrete terms, since the launch of Gaia, our task is to take every night, using ground based medium-class telescopes, short sequences of $10$ or…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

In this paper, a new parametrization of the relative motion between two satellites orbiting a central body is presented. The parametrization is based on the nodal elements: a set of angles describing the orbit geometry with respect to the…

Digital co-addition of astronomical images is a common technique for increasing signal-to-noise and image depth. A modification of this simple technique has been applied to the detection of minor bodies in the Solar System: first stationary…

In this work, we present an appearance based human activity recognition system. It uses background modeling to segment the foreground object and extracts useful discriminative features for representing activities performed by humans and…

3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Asteroid body-fixed hovering problem using nonideal solar sail models in a compact form with controllable sail area is investigated in this paper. The nonlinear dynamic equations for the hovering problem are constructed for a spherically…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

We aim to help users estimate the state of the world in tasks like robotic teleoperation and navigation with visual impairments, where users may have systematic biases that lead to suboptimal behavior: they might struggle to process…

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,…

In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…