{"680776":{"#nid":"680776","#data":{"type":"event","title":"PhD Defense by Travis Driver","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u003C\/strong\u003E\u0026nbsp;Intelligent Perception for Characterizing and Navigating Small Celestial Bodies\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EFriday, March 7, 2025\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime:\u003C\/strong\u003E\u0026nbsp; 1 PM - 2 PM EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation:\u003C\/strong\u003E\u0026nbsp;Daniel Guggenheim Building, Room 244\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual Link:\u003C\/strong\u003E\u0026nbsp;\u003Ca href=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZmE3Y2Q3MzktZjlkNC00ZjUzLWIzOTctMWE4NGJmZjFmNDI0%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%2215868a52-3998-4e4d-9417-d6268332641e%22%7d\u0022 title=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZmE3Y2Q3MzktZjlkNC00ZjUzLWIzOTctMWE4NGJmZjFmNDI0%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%2215868a52-3998-4e4d-9417-d6268332641e%22%7d\u0022\u003EMicrosoft Teams\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual Meeting ID:\u003C\/strong\u003E\u0026nbsp;298 808 786 732\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EPasscode:\u003C\/strong\u003E\u0026nbsp;Vq3X478T\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETravis\u0026nbsp;Driver\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics PhD Candidate\u003C\/p\u003E\u003Cp\u003EDynamics and Control Systems Laboratory\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Panagiotis Tsiotras (Advisor),\u0026nbsp;Daniel Guggenheim School of Aerospace Engineering, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. John Christian,\u0026nbsp;Daniel Guggenheim School of Aerospace Engineering, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. Frank Dellaert,\u0026nbsp;School of Interactive Computing, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. James Hays,\u0026nbsp;School of Interactive Computing, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr.\u0026nbsp;Katherine Skinner,\u0026nbsp;Department of Robotics, University of Michigan\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EMissions to small celestial bodies rely heavily on optical feature tracking for characterization of and relative navigation around the target body. Current state-of-the-practice approaches rely on extensive human-in-the-loop verification and high-fidelity \u003Cem\u003Ea priori\u003C\/em\u003E\u0026nbsp;information to achieve accurate results. Instead, this thesis explores the application of modern photogrammetic techniques and intelligent perception methods to increase the autonomous capabilities of missions to small bodies. First, this thesis details AstroVision, a large-scale dataset comprised of 115,970 annotated, real images of 16 different small bodies captured during past and ongoing missions. We employ AstroVision to conduct an exhaustive evaluation of both handcrafted and data-driven feature detection and description methods and for end-to-end training of a state-of-the-art, deep feature detection and description network and demonstrate improved performance on multiple benchmarks. Next, this thesis develops Photoclinometry-from-Motion (PhoMo), a novel approach that incorporates planetary surface reflectance models into a dense feature-based Structure-from-Motion (SfM) system to estimate the surface normal and albedo at detected landmarks to improve surface and shape characterization of small celestial bodies from \u003Cem\u003Ein-situ\u003C\/em\u003E\u0026nbsp;imagery.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EIntelligent Perception for Characterizing and Navigating Small Celestial Bodies\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Intelligent Perception for Characterizing and Navigating Small Celestial Bodies"}],"uid":"27707","created_gmt":"2025-02-27 18:59:21","changed_gmt":"2025-02-27 19:00:05","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-03-07T13:00:00-05:00","event_time_end":"2025-03-07T14:00:00-05:00","event_time_end_last":"2025-03-07T14:00:00-05:00","gmt_time_start":"2025-03-07 18:00:00","gmt_time_end":"2025-03-07 19:00:00","gmt_time_end_last":"2025-03-07 19:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Daniel Guggenheim Building, Room 244","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}