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A new dynamical core of Environment and Climate Change Canada's Global Environmental Multiscale (GEM) atmospheric model is presented. Unlike the existing log-hydrostatic-pressure-type terrain-following vertical coordinate, the proposed core…
The growing complexity of spatial and structural information in 3D data makes data inspection and visualization a challenging task. We describe a method to create a planar embedding of 3D treelike structures using their skeleton…
In this paper, a software-based simulator for the deployment of base station-equipped unmanned aerial vehicles (UAVs) in a cellular network is proposed. To this end, the Google Earth Engine platform and its included image processing…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
We present an improved model for MRF-based depth upsampling, guided by image- as well as 3D surface normal features. By exploiting the underlying camera model we define a novel regularization term that implicitly evaluates the planarity of…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Climate change is one of the most critical challenges that our planet is facing today. Rising global temperatures are already bringing noticeable changes to Earth's weather and climate patterns with an increased frequency of unpredictable…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
We introduce a method for following high-level navigation instructions by mapping directly from images, instructions and pose estimates to continuous low-level velocity commands for real-time control. The Grounded Semantic Mapping Network…
The reconstruction of low-textured areas is a prominent research focus in multi-view stereo (MVS). In recent years, traditional MVS methods have performed exceptionally well in reconstructing low-textured areas by constructing plane models.…
Existing exploration algorithms mainly generate frontiers using random sampling or motion primitive methods within a specific sensor range or search space. However, frontiers generated within constrained spaces lead to back-and-forth…
Textured high-fidelity 3D models are crucial for games, AR/VR, and film, but human-aligned evaluation methods still fall behind despite recent advances in 3D reconstruction and generation. Existing metrics, such as Chamfer Distance, often…
We demonstrate high fidelity enhancement of planetary digital elevation models (DEMs) using optical images and deep learning with convolutional neural networks. Enhancement can be applied recursively to the limit of available optical data,…
This paper describes an investigation of the source of geospatial error in digital surface models (DSMs) constructed from multiple satellite images. In this study the uncertainty in surface geometry is separated into two spatial components;…
Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insufficient for many field applications that require appearance…
Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…
Geometric Deep Learning has recently made striking progress with the advent of continuous deep implicit fields. They allow for detailed modeling of watertight surfaces of arbitrary topology while not relying on a 3D Euclidean grid,…
In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to share a frozen DINOv2 backbone. Two…
With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…
Efficiently analyzing maps from upcoming large-scale surveys requires gaining direct access to a high-dimensional likelihood and generating large-scale fields with high fidelity, which both represent major challenges. Using CAMELS…