相关论文: Optimal Fiducial Marker Placement for Satellite Pr…

Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a relative pose measurement from a single marker detection and…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

Fiducial marker positions in projection image of cone-beam computed tomography (CBCT) scans have been studied to evaluate daily residual motion during breath-hold radiation therapy. Fiducial marker migration posed challenges in accurately…

The motion of satellite constellations similar to GPS and Galileo is numerically simulated and, then, the region where bifurcation (double positioning) occurs is appropriately represented. In the cases of double positioning, the true…

Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…

This paper proposes a sampling-based motion planner that employs a dual quaternion representation to generate smooth, collision-free six-degree-of-freedom pose trajectories for satellite rendezvous and docking under keep-out zone…

This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…

Global navigation satellite systems use appropriate satellite constellations to get the coordinates of an user -close to Earth- in an almost inertial reference system. We have simulated both GPS and GALILEO constellations. Uncertainties in…

This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…

In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…

We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly…

This paper presents an algorithm for the preprocessing of observation data aimed at improving the robustness of orbit determination tools. Two objectives are fulfilled: obtain a refined solution to the initial orbit determination problem…

This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…

Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…

In this paper, we introduce a dynamic fiducial marker which can change its appearance according to the spatiotemporal requirements of the visual perception task of a mobile robot using a camera as the sensor. We present a control scheme to…

The apparent close encounters of two satellites in the plane of the sky, called mutual approximations, have been suggested as a different type of astrometric observation to refine the moons' ephemerides. The main observables are the central…

This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to show its potential for reliable takeoff and landing…

Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…

Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…