Search Results for author:
Found 6 papers, 5 papers with code
Keypoint-based Stereophotoclinometry for Characterizing and Navigating Small Bodies: A Factor Graph Approach
This paper proposes the incorporation of techniques from stereophotoclinometry (SPC) into a keypoint-based structure-from-motion (SfM) system to estimate the surface normal and albedo at detected landmarks to improve autonomous surface and shape characterization of small celestial bodies from in-situ imagery.
Distributed Global Structure-from-Motion with a Deep Front-End
While initial approaches to Structure-from-Motion (SfM) revolved around both global and incremental methods, most recent applications rely on incremental systems to estimate camera poses due to their superior robustness.
Efficient Feature Description for Small Body Relative Navigation using Binary Convolutional Neural Networks
We train and test our models on real images of small bodies from legacy and ongoing missions and demonstrate increased performance relative to traditional handcrafted methods.
Deep Monocular Hazard Detection for Safe Small Body Landing
Hazard detection and avoidance is a key technology for future robotic small body sample return and lander missions.
AstroSLAM: Autonomous Monocular Navigation in the Vicinity of a Celestial Small Body -- Theory and Experiments
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body.
AstroVision: Towards Autonomous Feature Detection and Description for Missions to Small Bodies Using Deep Learning
Missions to small celestial bodies rely heavily on optical feature tracking for characterization of and relative navigation around the target body.
