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Uland Wong

Uland Wong
NASA · Intelligent Systems Division

PhD in Robotics

About

26
Publications
4,947
Reads
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150
Citations
Citations since 2016
16 Research Items
122 Citations
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20162017201820192020202120220102030
20162017201820192020202120220102030
Education
August 2002 - April 2012
Carnegie Mellon University
Field of study
  • Robotics, Electrical and Computer Engineering

Publications

Publications (26)
Conference Paper
Full-text available
This paper compares a broad cross-section of range sensing technologies for underground void modeling. In this family of applications, a tunnel environment is incrementally mapped with range sensors from a mobile robot to recover scene geometry. Distinguishing contributions of this work include an unprecedented number of configurations evaluated ut...
Conference Paper
Full-text available
A method is developed that improves the accuracy of super-resolution range maps over interpolation by fusing actively illuminated HDR camera imagery with LIDAR data in dark subterranean environments. The key approach is shape recovery from estimation of the illumination function and integration in a Markov Random Field (MRF) framework. A virtual re...
Article
Full-text available
Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves using mathematical models. Today, armed with an array of orbiting and fly-by satellites and survey instrumentation, we have now acquired cave data across our solar system—including the identification of potential cave entrances on the Moon, Mars, and at least n...
Article
A digital elevation model (DEM) can be generated using a gradient of a single image and a stereo image pair from an imaging sensor or laser altimeter sensor on an orbiter. These DEMs are affected by intrinsic problems such as stereo noise in the triangulation process or low spatial resolution from sparse measurement points. Various image-based tech...
Conference Paper
Full-text available
Selecting suitable landing sites is fundamental to achieving success in robotic lander missions. However, due to sensing limitations, landing sites that are both safe and scientifically suitably may not be determined reliably from orbit prior to descent, especially where orbital sensing data is noisy or incomplete. In previous work we proposed an a...
Technical Report
Full-text available
Humans have looked for extraterrestrial biosignatures on the surfaces of other planets and moons. These surfaces are often exposed to conditions and processes that exceed the physical limits of life, e.g., intense cosmic radiation, impact events, and large thermal extremes, that would render difficult the preservation of biosignatures over geologic...
Conference Paper
Full-text available
Selecting suitable landing sites is fundamental to achieving many mission objectives in planetary robotic lander missions. However, due to sensing limitations, landing sites which are both safe and scientifically valuable often cannot be determined reliably from orbit, particularly, in icy moon missions where orbital sensing data is noisy and incom...
Article
Full-text available
This paper presents a method to predict soil traversability by estimating the thermal diffusivity of terrain using a moving, continuous-wave laser. This method differentiates between different densities of the samematerial, which visionbased methods alone cannot achieve. The bulk density of a granular material has a significant effect on both its m...
Article
This paper presents complementary flyover and surface exploration for reconnaissance of planetary point destinations, like skylights and polar crater rims, where local 3D detail matters. Recent breakthroughs in precise, safe landing enable spacecraft to touch down within a few hundred meters of target destinations. These precision trajectories prov...
Chapter
Full-text available
Geometric modeling from range scanners can be vastly improved by sampling the scene with a Nyquist criterion. This work presents a method to estimate frequency content a priori from intensity imagery using wavelet analysis and to utilize these estimates in efficient single-view sampling. The key idea is that under certain constrained and estimable...
Article
Caves on planetary bodies beyond Earth have always been of great interest for science and exploration, but for many years there was no known way to enter.
Conference Paper
Full-text available
Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique so...
Article
Autonomy is crucial in planetary robotics where extreme distance and limited resource availability make continuous teleoperation impractical. Environmental obstacles represent a fundamental hurdle, as natural hazards may prevent robots from accomplishing certain tasks by invalidating path plans. In the worst-case scenario, it may
Article
Full-text available
Relation decomposition has been used for FPGA mapping, layout optimization, and data mining. Decision trees are very popular in data mining and robotics. We present relation decomposition as a new general-purpose machine learning method which generalizes the methods of inducing decision trees, decision diagrams and other structures. Relation decomp...
Article
Full-text available
Paper presents our research progress and experiences related to designing inexpensive natural-size humanoid caricature and realistic robot heads - actors for robot theatre, agents for advertisement, education and entertainment. We concentrate on Machine Learning techniques used to teach robots behaviors, natural language dialogs and facial gestures...

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Projects

Project (1)
Project
"The status of planetary cave exploration varies across the Solar System. Even though Earth represents the most advanced stage of development, many questions remain unanswered about terrestrial caves and how they might serve as planetary analogs. Beyond Earth, planetary caves exploration is most advanced for the Moon and Mars, given that confirmed and candidate cave entrances are now well known and several missions and mission concepts to examine those entrances have been proposed. A cave exploration roadmap for the next decade could be divided into three phases: identification, characterization, and exploration . Developing capabilities is a crosscutting theme that applies to all phases and includes the continued development of models and technology, as well as continued validation of both cave science and exploration technologies." Goals: 1- Determine where caves occur in the Solar System 2- Define origin & evolution of planetary caves as a geological system 3- Characterize processes & evolution of cave climates & their habitability potential 4- Examine if planetary caves hosted/still host life 5- Prepare for human exploration