相关论文: Generalizing Trilateration: Approximate Maximum Li…
Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…
Satellite Laser Ranging (SLR) is an established technique providing very accurate position measurements of satellites in Earth orbit. However, despite decades of development, it remains a complex and expensive technology, which impedes its…
The ESA/NASA joint LISA (laser interferometer space antenna) mission is designed to detect gravitational waves, which relies crucially on maintaining three-spacecraft constellation as close to an equilateral triangle with a designed…
Consider a setting with $N$ independent individuals, each with an unknown parameter, $p_i \in [0, 1]$ drawn from some unknown distribution $P^\star$. After observing the outcomes of $t$ independent Bernoulli trials, i.e., $X_i \sim…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
Many imaging problems require solving an inverse problem that is ill-conditioned or ill-posed. Imaging methods typically address this difficulty by regularising the estimation problem to make it well-posed. This often requires setting the…
Low-earth-orbit (LEO) satellite communication systems that use millimeter-wave frequencies rely on large antenna arrays with hybrid analog-digital architectures for rapid beam steering. LEO satellites are only visible from the ground for…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Improving three-dimensional (3D) localization precision is of paramount importance for super-resolution imaging. By properly engineering the point spread function (PSF), such as utilizing Laguerre-Gaussian (LG) modes and their…
NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. One key challenge is enabling the Canadarm3, the Gateway's external robotic system, to…
Moving horizon estimation (MHE) is a widely studied state estimation approach in several practical applications. In the MHE problem, the state estimates are obtained via the solution of an approximated nonlinear optimization problem.…
Doppler orbitography uses the Doppler shift in a transmitted signal to determine the orbital parameters of satellites including range and range-rate (or radial velocity). We describe two techniques for atmospheric-limited optical Doppler…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…
Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…
Extrinsic perturbation always exists in multiple sensors. In this paper, we focus on the extrinsic uncertainty in multi-LiDAR systems for 3D object detection. We first analyze the influence of extrinsic perturbation on geometric tasks with…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…
In real-time and high-resolution Earth observation imagery, Low Earth Orbit (LEO) satellites capture images that are subsequently transmitted to ground to create an updated map of an area of interest. Such maps provide valuable information…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…