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

Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…

The performance and diagnostic utility of magnetic resonance imaging (MRI) in pregnancy is fundamentally constrained by fetal motion. Motion of the fetus, which is unpredictable and rapid on the scale of conventional imaging times, limits…

We consider imaging of fast moving small objects in space, such as low earth orbit satellites, which are also rotating around a fixed axis. The imaging system consists of ground based, asynchronous sources of radiation and several passive…

The lightcurves of asteroids are essential for determining their physical characteristics, including shape, spin, size, and surface composition. However, most asteroids are missing some of these basic physical parameters due to lack of…

Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…

Due to the difficulty of replicating the real conditions during training, supervised algorithms for spacecraft pose estimation experience a drop in performance when trained on synthetic data and applied to real operational data. To address…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…

The bulk density of an asteroid informs us about its interior structure and composition. To constrain the bulk density one needs an estimate for the mass of the asteroid. The mass is estimated by analyzing an asteroid's gravitational…

The exploration of small body asteroids provides direct access to the primitive building blocks of our solar system. Sample and return missions enable chemical and radioisotope studies which not only provide evidence for the formation of…

The rotational distribution of asteroids as a function of their size is used {as a diagnostic of} their physical properties and evolution. Recent photometric surveys from the Gaia mission, allowing observation of asteroids with long spin…

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…

During its initial orbital phase in early 2019, the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) asteroid sample return mission detected small particles apparently emanating from the…

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

Body-focused repetitive behaviors (BFRBs), like face-touching or skin-picking, are hand-driven behaviors which can damage one's appearance, if not identified early and treated. Technology for automatic detection is still under-explored,…

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…

The recent growing interest in small solar system bodies such as asteroids and comets for scientific inspection, exploitation of resources, and planetary defense reasons is pushing the development of innovative engineering solutions to…

Asteroid sizes can be directly measured by observing occultations of stars by asteroids. When there are enough observations across the path of the shadow, the asteroid's projected silhouette can be reconstructed. Asteroid shape models…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…