3 papers
cs.CV2020
Lunar Terrain Relative Navigation Using a Convolutional Neural Network for Visual Crater Detection
Lena M. Downes, Ted J. Steiner, Jonathan P. How
Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift i…
cs.RO2019
Towards Online Observability-Aware Trajectory Optimization for Landmark-based Estimators
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled.…
cs.RO2018
Efficient Constellation-Based Map-Merging for Semantic SLAM
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements ar…