相关论文: MOMO: Mars Orbital Model Foundation Model for Mars…

With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…

Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…

Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…

Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based "last-mile…

In this paper, we investigate jointly sparse signal recovery and jointly sparse support recovery in Multiple Measurement Vector (MMV) models for complex signals, which arise in many applications in communications and signal processing.…

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…

Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…

Foundation models are vital tools in various Computer Vision applications. They take as input a single RGB image and output a deep feature representation that is useful for various applications. However, in case we have multiple views of…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

We present a multi-modal classification framework that fuses satellite and street-level imagery through a Perceiver IO architecture operating on spatial patch tokens from a shared DINOv2 backbone. The design naturally handles a variable…

Index modulation (IM) reduces the power consumption and hardware cost of the multiple-input multiple-output (MIMO) system by activating part of the antennas for data transmission. However, IM significantly increases the complexity of the…

Model merging has recently emerged as a lightweight alternative to ensembling, combining multiple fine-tuned models into a single set of parameters with no additional training overhead. Yet, existing merging methods fall short of matching…

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…

Mirrors can degrade the performance of computer vision models, but research into detecting them is in the preliminary phase. YOLOv4 achieves phenomenal results in terms of object detection accuracy and speed, but it still fails in detecting…

We present TerraMind, the first any-to-any generative, multimodal foundation model for Earth observation (EO). Unlike other multimodal models, TerraMind is pretrained on dual-scale representations combining both token-level and pixel-level…

Motivated by automotive applications, we consider joint radar sensing and data communication for a system operating at millimeter wave (mmWave) frequency bands, where a Base Station (BS) is equipped with a co-located radar receiver and…

Targets in remote sensing images are usually small, weakly textured, and easily disturbed by complex backgrounds, challenging high-precision detection with general algorithms. Building on our earlier ESM-YOLO, this work presents ESM-YOLO+…

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

The Massive Multiple-Input Multiple-Output (MMIMO) technique together with Heterogeneous Network (Het-Net) deployment enables high throughput of 5G and beyond networks. However, a high number of antennas and a high number of Base Stations…

Remote Sensing (RS) is a crucial technology for observing, monitoring, and interpreting our planet, with broad applications across geoscience, economics, humanitarian fields, etc. While artificial intelligence (AI), particularly deep…