Courtney Mario
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View article: VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields Open
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…
View article: Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket
Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket Open
We present an experimental analysis on the use of a camera-based approach for high-altitude navigation by associating mapped landmarks from a satellite image database to camera images, and by leveraging inertial sensors between camera fram…
View article: Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields Open
We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained NeRF model as the map of an environment and can localize itse…
View article: Autonomous Navigation Performance Using Natural Feature Tracking during the OSIRIS-REx Touch-and-Go Sample Collection Event
Autonomous Navigation Performance Using Natural Feature Tracking during the OSIRIS-REx Touch-and-Go Sample Collection Event Open
When the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft collected a sample of surface material from asteroid Bennu in 2020 October, it was the first time that an autonomous…
View article: Ground Testing of Digital Terrain Models to Prepare for OSIRIS-REx Autonomous Vision Navigation Using Natural Feature Tracking
Ground Testing of Digital Terrain Models to Prepare for OSIRIS-REx Autonomous Vision Navigation Using Natural Feature Tracking Open
The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) spacecraft collected a sample from the asteroid Bennu in 2020. This achievement leveraged an autonomous optical navigation approach …
View article: The Use of Digital Terrain Models for Natural Feature Tracking at Asteroid Bennu
The Use of Digital Terrain Models for Natural Feature Tracking at Asteroid Bennu Open
The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission rendezvoused with asteroid (101955) Bennu in 2018 with the primary objective of collecting a sample of regolith from the sur…