The capability of an active spacecraft to accurately estimate its relative position and attitude
(pose) with respect to an active/inactive, artificial/natural space object (target) orbiting in …

We describe the architecture, algorithms, and experiments with HERB, an autonomous
mobile manipulator that performs useful manipulation tasks in the home. We present new …

Robust perception is a vital capability for robotic manipulation in unstructured scenes. In this
context, full pose estimation of relevant objects in a scene is a critical step towards the …

Autonomous rendezvous and docking is necessary for planned space programs such as
DARPA ASTRO, NASA MSR, ISS assembly and servicing, and other rendezvous and …

This paper presents the performance assessment of innovative model-based algorithms
developed for pose estimation of uncooperative targets by processing sparse three …

This paper describes a novel framework to determine the relative pose and range of a solid-
of-revolution-shaped spacecraft from a single image without any artificial beacons. The …

We propose a learning algorithm for estimating the 3-D orientation of objects. Orientation
learning is a difficult problem because the space of orientations is non-Euclidean, and in …

Autonomous spacecraft relative navigation via monocular images became a hot topic in the
past few years and, recently, received a further push thanks to the constantly growing field of …

The motivation of this paper is to develop an intelligent robot assembly system using multi-
modal vision for next-generation industrial assembly. The system includes two phases …

As flexibility becomes an important factor in factory automation, the bin-picking system,
where a robot performs pick-and-place tasks for randomly piled parts in a bin through …