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Pedro Proença

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Pedro Proença

Robotics Technologist

Biography

Pedro F. Proença joined JPL in 2020. At JPL, he has developed perception and state estimation software for several projects, including: terrain mapping, landing site detection and map-based localization for the Mars Science Helicopter Advanced Navigation Task; hazard mapping for CADRE rovers; object tracking and 3d localization for UAVs equipped with a thermal camera; and proprioceptive state estimation for EELS.

Prior to JPL, he completed his PhD on Robust RGB-D Odometry under Depth Uncertainty for Structured Environments and worked on several projects using deep learning for computer vision.

Education

  • PhD in Computer Vision, University of Surrey, 2018
  • M.S in Telecommunications and Computer Science, ISCTE - University Institute of Lisbon, 2013
  • B.S in Telecommunications and Computer Science, ISCTE - University Institute of Lisbon, 2011

Research Interests

  • 3D Perception
  • Machine Learning
  • Object Detection
  • Object Tracking
  • Object Pose Estimation
  • Surface Mapping
  • State Estimation
  • Visual Odometry
  • Inertial Navigation Systems
  • Calibration

Awards

  • ICRA Outstanding Deployed Systems Paper Finalist, 2022
  • JPL Team award, Mars Science Helicopter, 2020
  • ESA Pose Estimation Challenge, 3rd Place, 2019

Publications

2024
  1. T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, A. Jasour, M. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, M. Veismann, P. Gavrilov, E. Marteau, J. Bowkett, D. Loret de Mola Lemus, Y. Kumar Nakka, B. Hockman, A. Orekhov, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Reid, W. Talbot, N. Georgiev, T. Pailevanian, A. Archanian, E. Ambrose, J. Jasper, R. Etheredge, C. Roman, D. Levine, K. Otsu, S. Yearicks, H. Melikyan, R. Rieber, K. Carpenter, J. Nash, A. Jain, L. Shiraishi, M. Robinson, M. Travers, H. Choset, J. Burdick, A. Gardner, M. Cable, M. Ingham, and M. Ono, "EELS: Autonomous Snake-like Robot with Task and Motion Planning Capabilities for Ice World Exploration," Science Robotics, vol. 9, no. 88, 13 March 2024.
  2. M. Ono, R. Thakker, N. Georgiev, P. Gavrilov, A. Archanian, T. Drevinskas, G. Daddi, M. Paton, H. Melikyan, T. Pailevanian, C. Lopez, E. Ambrose, B. Jones, L. Tosi, M. Gildner, B. Hockman, D. Loret de Mola Lemus, D. Pastor Moreno, T. Hasseler, Y. Kumar Nakka, E. Marteau, B. Nuernberger, M. Peticco, M. Cable, P. Proenca, M. Malaska, J. Bowkett, A. Jasour, M. Ingham, J. Nash, D. Balentine, A. Barchowsky, F. Bevreng, K. Botteon, M. Caballero, K. Carpenter, M. Chodas, A. Daca, J. Feldman, A. Gardner, A. Goddu, A. Jain, C. Jin, M. Khanum, R. Kornfeld, G. Mark, B. Morrell, J. Naish, W. Reid and R. Etheredge, "To Boldly Go Where No Robots Have Gone Before – Part 1: EELS Robot to Spearhead a New One-Shot Exploration Paradigm with In-situ Adaptation," AIAA Scitech 2024 Forum, Orlando, Florida, USA, pp. 1-23, 08 January 2024.
  3. R. Thakker, M. Paton, M. Strub, M. Swan, T. Vaquero, B. Jones, G. Daddi, R. Royce, J. Bowkett, D. Loret de Mola Lemus, D. Pastor Moreno, Y. Kumar Nakka, K. Otsu, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Talbot, A. Orekhov, A. Jain, M. Robinson, R. Etheredge, M. Travers, H. Choset, M. Ingham, J. Burdick and M. Ono, "To Boldly Go Where No Robots Have Gone Before – Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots," AIAA Scitech 2024 Forum, Orlando, Florida, USA, pp. 1-14, 08 January 2024.
2023
  1. Pedro Proença, Patrick Spieler, Robert Hewitt, Jeff Delaune, "TRADE: Object Tracking with 3D Trajectory and Ground Depth Estimates for UAVs," IEEE International Conference on Robotics and Automation (ICRA), pp. 3325-3331, 29 May 2023.
2022
  1. P. Proença, J. Delaune, R. Brockers, "Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, pp. 9668-9674, 23 May 2022.
  2. R. Brockers, P. Proença, J. Delaune, J. Todd, L. Matthies, T. Tzanetos, J. B. Balaram, "On-board Absolute Localization Based on Orbital Imagery for a Future Mars Science Helicopter," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-11, 05 March 2022.
2021
  1. P. Schoppmann, P. Proença, J. Delaune, M. Pantic, T. Hinzmann, L. Matthies, R. Siegwart, R. Brockers, "Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 1990-1997, 27 September 2021.
  2. R. Brockers, J. Delaune, P. Porença, P. Schoppmann, M. Domnik, G. Kubiak, T. Tzanetos, "Autonomous Safe Landing Site Detection for a Future Mars Science Helicopter," 2021 IEEE Aerospace Conference (50100), Big Sky, MT, USA, pp. 1-8, 06 March 2021.