Machine Vision based Sample-Tube Localization for Mars Sample Return Shreyansh Daftry, Barry Ridge, William Seto, Tu-Hoa Pham, Peter Ilhardt∗ , Gerard Maggiolino∗ , Mark Van der Merwe∗ , Alex Brinkman, John Mayo, Eric Kulczyski and Renaud Detry Jet Propulsion Laboratory, California Institute of Technology Pasadena, CA, USA Shreyansh.Daftry@jpl.nasa.gov arXiv:2103.09942v1 [cs.CV] 17 Mar