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)
NASA's DAWN spacecraft is on a mission to recover the gravity and structure of the asteroids Vesta and Ceres. Current approaches for developing a gravitational map of a celestial body rely upon use of the Deep Space Network of radio telescopes in conjunction with camera measurements for highly accurate tracking of orbiting bodies. Unfortunately, large(More)
1.0 INTRODUCTION Over the past two years, the Georgia Tech Research Institute (GTRI) has developed a new Unmanned Underwater Vehicle (UUV) called the Yellowfin. The purpose of the vehicle is to provide a platform for research and development of autonomous, multi-vehicle underwater technology. This paper documents the design of the vehicle with an emphasis(More)
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