Abstract: A method includes providing an image to a feature extraction model to generate feature data. The image depicts a portion of a first device and a portion of a second device. The feature data includes coordinates representing key points of each of the first and second devices depicted in the image. The method also includes obtaining position data indicating a position in 3D space of a connector of the first device. The method further includes providing the feature data and the position data to a trained autonomous agent to generate a proposed maneuver to mate the connector with a connector of the second device.

Abstract: Aspects of the disclosure provide solutions for automated air-to-air refueling (A3R) and assisted air-to-air refueling. Examples include: receiving a video frame; generating, from the video frame, a plurality of images having differing decreasing resolutions; detecting, within each of the plurality of images, a set of aircraft keypoints for an aircraft to be refueled; merging the sets of aircraft keypoints into a set of merged aircraft keypoints; based on at least the merged aircraft keypoints, determining a position of a fuel receptacle on the aircraft; and determining a position of a boom tip of an aerial refueling boom. Some examples include, based on at least the position of the fuel receptacle and the position of the boom tip, controlling the aerial refueling boom to engage the fuel receptacle, and for some examples, the video frame is monocular (e.g., provided by a single camera).