相关论文: Camera-Pose Robust Crater Detection from Chang'e 5

The European Space Agency (ESA), driven by its ambitions on planned lunar missions with the Argonaut lander, has a profound interest in reliable crater detection, since craters pose a risk to safe lunar landings. This task is usually…

Craters are one of the most prominent features on planetary surfaces, used in applications such as age estimation, hazard detection, and spacecraft navigation. Crater detection is a challenging problem due to various aspects, including…

Recent interest in on-orbit servicing and Active Debris Removal (ADR) missions have driven the need for technologies to enable non-cooperative rendezvous manoeuvres. Such manoeuvres put heavy burden on the perception capabilities of a…

Computational methods to accelerate natural disaster response include change detection, map alignment, and vision-aided navigation. Current software functions optimally only on near-nadir images, though off-nadir images are often the first…

Accurate detection and localization of X-corner on both planar and non-planar patterns is a core step in robotics and machine vision. However, previous works could not make a good balance between accuracy and robustness, which are both…

In this paper we present two examples of recent investigations that we have undertaken, applying Machine Learning (ML) neural networks (NN) to image datasets from outer planet missions to achieve feature recognition. Our first investigation…

Crater cataloging is an important yet time-consuming part of geological mapping. We present an automated Crater Detection Algorithm (CDA) that is competitive with expert-human researchers and hundreds of times faster. The CDA uses multiple…

It is often necessary to identify a pattern of observed craters in a single image of the lunar surface and without any prior knowledge of the camera's location. This so-called "lost-in-space" crater identification problem is common in both…

Impact craters are formed as a result of continuous impacts on the surface of planetary bodies. This paper proposes a novel way of simultaneously utilizing optical images, digital elevation maps (DEMs), and slope maps for automatic crater…

This paper presents a novel method of landslide detection by exploiting the Mask R-CNN capability of identifying an object layout by using a pixel-based segmentation, along with transfer learning used to train the proposed model. A data set…

Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift in the inertial navigation system. This paper presents a…

Robust Mask R-CNN (Mask Regional Convolu-tional Neural Network) methods are proposed and tested for automatic detection of cracks on structures or their components that may be damaged during extreme events, such as earth-quakes. We curated…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…

Crater-Based Navigation (CBN) uses the ubiquitous impact craters of the Moon observed on images as natural landmarks to determine the six degrees of freedom pose of a spacecraft. To date, CBN has primarily been studied in the context of…

Robotic and human lunar landings are a focus of future NASA missions. Precision landing capabilities are vital to guarantee the success of the mission, and the safety of the lander and crew. During the approach to the surface there are…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Impact crater cataloging is an important tool in the study of the geological history of planetary bodies in the Solar System, including dating of surface features and geologic mapping of surface processes. Catalogs of impact craters have…

The Lunar landing has drawn great interest in lunar exploration in recent years, and autonomous lunar landing navigation is fundamental to this task. AI is expected to play a critical role in autonomous and intelligent space missions, yet…