相关论文: AstroLoc: Robust Space to Ground Image Localizer
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
We explore how astronomers take observational data from telescopes, process them into usable scientific data products, curate them for later use, and reuse data for further inquiry. Astronomers have invested heavily in knowledge…
This work addresses the challenge of training supervised machine or deep learning models on orbiting platforms where we are generally constrained by limited on-board hardware capabilities and restricted uplink bandwidths to upload. We aim…
Astrophysics and cosmology are rich with data. The advent of wide-area digital cameras on large aperture telescopes has led to ever more ambitious surveys of the sky. Data volumes of entire surveys a decade ago can now be acquired in a…
Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
We have used an existing, robotic, multi-lens, all-sky camera system, coupled to a dedicated data reduction pipeline, to automatically determine orbital parameters of satellites in Low Earth Orbit (LEO). Each of the fixed cameras has a…
Global localization is necessary for autonomous operations on the lunar surface where traditional Earth-based navigation infrastructure, such as GPS, is unavailable. As NASA advances toward sustained lunar presence under the Artemis…
We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database…
An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite System typically performs poorly in urban environments when there is no line-of-sight between the devices and the…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
Wireless fingerprint-based localization has become one of the most promising technologies for ubiquitous location-aware computing and intelligent location-based services. However, due to RF vulnerability to environmental dynamics over time,…
Survey telescopes such as the Vera C. Rubin Observatory and the Square Kilometre Array will discover billions of static and dynamic astronomical sources. Properly mined, these enormous datasets will likely be wellsprings of rare or unknown…
The expansion of satellite constellations poses a significant challenge to optical ground-based astronomical observations, as satellite trails degrade observational data and compromise research quality. Addressing these challenges requires…
Spacecraft deployed in outer space are routinely subjected to various forms of damage due to exposure to hazardous environments. In addition, there are significant risks to the subsequent process of in-space repairs through human…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
With the increasing deployment of earth observation satellite constellations, the downlink (satellite-to-ground) capacity often limits the freshness, quality, and coverage of the imagery data available to applications on the ground. To…