Andrew Melim

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— This paper presents a new computationally-efficient method for vision-aided navigation (VAN) in autonomous robotic applications. While many VAN approaches are capable of processing incoming visual observations, incorporating loop-closure measurements typically requires performing a bundle adjustment (BA) optimization, that involves both all the past(More)
Degree Order 0 0 1 2 3 1 2 3 (a) (b) Figure 1: (a) Gravitational field strength with harmonic coefficients of degree n and order m. (b) Vesta gravitational perturbations due to harmonics up to degree n = 3. This paper presents a pure vision based approach to solving for the gravitational field of extraterrestrial bodies with image data obtained by an(More)
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