相关论文: ShadowNav: Autonomous Global Localization for Luna…
We present a new generic method for shadow-aware multi-view satellite photogrammetry of Earth Observation scenes. Our proposed method, the Shadow Neural Radiance Field (S-NeRF) follows recent advances in implicit volumetric representation…
In this paper, we present a subsystem, using Unmanned Aerial Vehicles (UAV), for search and rescue missions, focusing on people detection, face recognition and tracking of identified individuals. The proposed solution integrates a UAV with…
Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…
In this paper, a complete framework for Autonomous Self Driving is implemented. LIDAR, Camera and IMU sensors are used together. The entire data communication is managed using Robot Operating System which provides a robust platform for…
Being capable of estimating the pose of uncooperative objects in space has been proposed as a key asset for enabling safe close-proximity operations such as space rendezvous, in-orbit servicing and active debris removal. Usual approaches…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
In this work we show that modern data-driven machine learning techniques can be successfully applied on lunar surface remote sensing data to learn, in an unsupervised way, sufficiently good representations of the data distribution to enable…
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
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…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…
Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…
Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously…