相关论文: A physics-based sensor simulation environment for …

High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…

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…

In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…

Impact flashes on the moon are caused by high-speed collisions of celestial bodies with the lunar surface. The study of the impacts is critical for exploring the evolutionary history and formation of the Moon, and for quantifying the risk…

This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission…

Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and validation in a controlled environment. This testing process…

Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One of the critical issues of typical simulators is that they…

We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis…

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…

A thorough analysis of wheel-terrain interaction is critical to ensure the safe and efficient operation of space rovers on extraterrestrial surfaces like the Moon or Mars. This paper presents an approach for developing and experimentally…

In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…

Soil assessment is important for mobile robot planning and navigation on natural and planetary environments. Terramechanic characteristics can be inferred from the thermal behaviour of soils under the influence of sunlight using remote…

NASA's POLAR dataset contains approximately 2,600 pairs of high dynamic range stereo photos captured across 13 varied terrain scenarios, including areas with sparse or dense rock distributions, craters, and rocks of different sizes. The…

We present the POLAR Traverse Dataset: a dataset of high-fidelity stereo pair images of lunar-like terrain under polar lighting conditions designed to simulate a straight-line traverse. Images from individual traverses with different camera…

Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues remains the evaluation of said algorithms. With the regained…

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…

Robotic systems that can traverse planetary or lunar surfaces to collect environmental data and perform physical manipulation tasks, such as assembling equipment or conducting mining operations, are envisioned to form the backbone of future…

This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…

Many aspects of the design trade-off of a space-based instrument and its performance can best be tackled through simulations of the expected observations. The complex interplay of various noise sources in the course of the observations make…

An event-based camera outputs an event whenever a change in scene brightness of a preset magnitude is detected at a particular pixel location in the sensor plane. The resulting sparse and asynchronous output coupled with the high dynamic…