相关论文: Icy Moon Surface Simulation and Stereo Depth Estim…

Managing the dynamic regions in the photometric loss formulation has been a main issue for handling the self-supervised depth estimation problem. Most previous methods have alleviated this issue by removing the dynamic regions in the…

Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon…

Navigation and mapping on the lunar surface require robust perception under challenging conditions, including poorly textured environments, high-contrast lighting, and limited computational resources. This paper presents a real-time mapping…

Achieving robust and accurate spatial perception under adverse weather and lighting conditions is crucial for the high-level autonomy of self-driving vehicles and robots. However, existing perception algorithms relying on the visible…

Synthetic image generation is one of the crucial input for planetary missions. It enables researchers and engineers to visualize planned planetary missions, test imaging systems and plan exploration activities in a virtual environment…

We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…

Accurate 3D reconstruction of lunar surfaces is essential for space exploration. However, existing stereo vision reconstruction methods struggle in this context due to the Moon's lack of texture, difficult lighting variations, and atypical…

Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient approach for accurately representing scenes. However, despite its superior novel view synthesis capabilities, extracting the geometry of the scene directly from the Gaussian…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

3D Gaussian Splatting (GS) significantly struggles to accurately represent the underlying 3D scene geometry, resulting in inaccuracies and floating artifacts when rendering depth maps. In this paper, we address this limitation, undertaking…

Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…

Autonomous precision navigation to land onto the Moon relies on vision sensors. Computer vision algorithms are designed, trained and tested using synthetic simulations. High quality terrain models have been produced by Moon orbiters…

To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel fault detection framework for satellite constellations using inter-satellite ranging (ISR). Traditionally,…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Robust depth perception in visually-degraded environments is crucial for autonomous aerial systems. Thermal imaging cameras, which capture infrared radiation, are robust to visual degradation. However, due to lack of a large-scale dataset,…

In this paper, we propose a novel gradient-free and dimensionality-independent sampler, the Geometric Optics Approximation Sampling (GOAS), based on a near-field reflector system. The key idea involves constructing a reflecting surface that…

With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development…

Intelligent reflecting surface (IRS) is a promising technology for enhancing wireless communication systems. It adaptively configures massive passive reflecting elements to control wireless channel in a desirable way. Due to hardware…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…