5 papers
GABI: Geometry-Aware Boundary Integration for Spacecraft Segmentation
Iason Georgios Velentzas, Dhruv Ahuja, Panagiotis Tsiotras
Accurate segmentation is crucial for autonomous spacecraft, as it directly affects downstream tasks related to 3D situational awareness. The harsh illumination conditions of space,…
Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field
Shangjie Xue, Jesse Dill, Dhruv Ahuja +3
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions uns…
Stereophotoclinometry Revisited
Travis Driver, Andrew Vaughan, Yang Cheng +3
Image-based surface reconstruction and characterization is crucial for missions to small celestial bodies, as it informs mission planning, navigation, and scientific analysis. Howe…
Initialization of Monocular Visual Navigation for Autonomous Agents Using Modified Structure from Small Motion
Juan-Diego Florez, Mehregan Dor, Panagiotis Tsiotras
We propose a standalone monocular visual Simultaneous Localization and Mapping (vSLAM) initialization pipeline for autonomous space robots. Our method, a state-of-the-art factor gr…
Keypoint-based Stereophotoclinometry for Characterizing and Navigating Small Bodies: A Factor Graph Approach
Travis Driver, Andrew Vaughan, Yang Cheng +3
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 alb…