相关论文: The Landform Contextual Mesh: Automatically Fusing…
Successfully handling context is essential for any dialog understanding task. This context maybe be conversational (relying on previous user queries or system responses), visual (relying on what the user sees, for example, on their screen),…
6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
We present an atmospheric model tailored for the interactive visualization of planetary surfaces. As the exploration of the solar system is progressing with increasingly accurate missions and instruments, the faithful visualization of…
Autoregressive transformers have recently shown impressive image generation quality and efficiency on par with state-of-the-art diffusion models. Unlike diffusion architectures, autoregressive models can naturally incorporate arbitrary…
Reconstruction of 3D scenes from 2D images is a technical challenge that impacts domains from Earth and planetary sciences and space exploration to augmented and virtual reality. Typically, reconstruction algorithms first identify common…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…
2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…
Automatic terrain recognition in Mars rover images is an important problem not just for navigation, but for scientists interested in studying rock types, and by extension, conditions of the ancient Martian paleoclimate and habitability.…
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…
Metaverse technologies demand accurate, real-time, and immersive modeling on consumer-grade hardware for both non-human perception (e.g., drone/robot/autonomous car navigation) and immersive technologies like AR/VR, requiring both…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…
The Mars Reconnaissance Orbiter (MRO) spacecraft has been in orbit around Mars since March 2006. The Context Camera (CTX) on MRO has returned over 100,000 images of the planet at approximately 5-6 meters per pixel, providing nearly global…
Human drone interaction in autonomous navigation incorporates spatial interaction tasks, including reconstructed 3D map from the drone and human desired target position. Augmented Reality (AR) devices can be powerful interactive tools for…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…