11 papers
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards such as steep slopes and rocky terrain. To address this challenge,…
Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal st…
SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes
David RodrÃguez-MartÃnez, Dave van der Meer, Junlin Song +3
Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a vis…
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
Akiyoshi Uchida, Antonine Richard, Kentaro Uno +2
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the proble…
RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigation
Matteo El-Hariry, Antoine Richard, Ricard M. Castan +4
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown…
REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach
Dave van der Meer, Loïck P. Chovet, Gabriel M. Garcia +2
The European Space Agency (ESA) and the European Space Resources Innovation Centre (ESRIC) created the Space Resources Challenge to invite researchers and companies to propose inno…