相关论文: The Landform Contextual Mesh: Automatically Fusing…

The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…

Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…

Space exploration has witnessed a steady increase since the 1960s, with Mars playing a significant role in our quest for further knowledge. As the ambition to colonize Mars becomes a reality through the collaboration of private companies…

This paper considers outdoor terrain mapping using RGB images obtained from an aerial vehicle. While feature-based localization and mapping techniques deliver real-time vehicle odometry and sparse keypoint depth reconstruction, a dense…

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…

Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…

The Mars Perseverance Rover represents a generational change in the scale of measurements that can be taken on Mars, however this increased resolution introduces new challenges for techniques in exploratory data analysis. The multiple…

Depth estimation plays a great potential role in obstacle avoidance and navigation for further Mars exploration missions. Compared to traditional stereo matching, learning-based stereo depth estimation provides a data-driven approach to…

The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on…

Terraforming Mars is an age old science fiction concept now worth revisiting through the lens of modern science and technology. This document serves as a summary of contemporary ideas about Mars terraforming, prepared for attendees of the…

In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…

Terrain assessment is a key aspect for autonomous exploration rovers, surrounding environment recognition is required for multiple purposes, such as optimal trajectory planning and autonomous target identification. In this work we present a…

Planetary surfaces are typically analyzed using high-level semantic concepts in natural language, yet vast orbital image archives remain organized at the pixel level. This mismatch limits scalable, open-ended exploration of planetary…

In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's high-resolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual…

Data-driven approaches like deep learning are rapidly advancing planetary science, particularly in Mars exploration. Despite recent progress, most existing benchmarks remain confined to closed-set supervised visual tasks and do not support…

A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cache, fetch and return to Earth. In this paper, we focus on…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insufficient for many field applications that require appearance…

This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown…

The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…