53 citations · 94 across the 12 of their papers we have counts for
12 papers
Online Adaptation of Visual Odometry Frontends with Image-Conditioned Reinforcement Learning
Simone Nascivera, Leonard Bauersfeld, Jeff Delaune +1
Visual odometry (VO) frontends are typically tuned offline by domain experts on pre-recorded datasets and then deployed with fixed hyperparameters. Yet a configuration that perform…
Structure-Invariant Range-Visual-Inertial Odometry
Ivan Alberico, Jeff Delaune, Giovanni Cioffi +1
The Mars Science Helicopter (MSH) mission aims to deploy the next generation of unmanned helicopters on Mars, targeting landing sites in highly irregular terrain such as Valles Mar…
TRADE: Object Tracking with 3D Trajectory and Ground Depth Estimates for UAVs
Pedro F. Proença, Patrick Spieler, Robert A. Hewitt +1
We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware ta…
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators
Christian Brommer, Alessandro Fornasier, Martin Scheiber +4
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust…
Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry
Vincenzo Polizzi, Robert Hewitt, Javier Hidalgo-Carrió +2
We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fl…
Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs
Pedro F. Proença, Jeff Delaune, Roland Brockers
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution he…
Exploring Event Camera-based Odometry for Planetary Robots
Florian Mahlknecht, Daniel Gehrig, Jeremy Nash +4
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based expl…
Mid-Air Helicopter Delivery at Mars Using a Jetpack
Jeff Delaune, Jacob Izraelevitz, Samuel Sirlin +32
Mid-Air Helicopter Delivery (MAHD) is a new Entry, Descent and Landing (EDL) architecture to enable in situ mobility for Mars science at lower cost than previous missions. It uses…
Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft
Pascal Schoppmann, Pedro F. Proença, Jeff Delaune +5
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 ove…
Range-Visual-Inertial Odometry: Scale Observability Without Excitation
Jeff Delaune, David S. Bayard, Roland Brockers
Traveling at constant velocity is the most efficient trajectory for most robotics applications. Unfortunately without accelerometer excitation, monocular Visual-Inertial Odometry (…
xVIO: A Range-Visual-Inertial Odometry Framework
Jeff Delaune, David S. Bayard, Roland Brockers
xVIO is a range-visual-inertial odometry algorithm implemented at JPL. It has been demonstrated with closed-loop controls on-board unmanned rotorcraft equipped with off-the-shelf e…
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars
Jeff Delaune, Jacob Izraelevitz, Larry A. Young +18
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total…