Related papers: Joint calibration and mapping of satellite altimet…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
Spaceborne synthetic aperture radar can provide meters scale images of the ocean surface roughness day or night in nearly all weather conditions. This makes it a unique asset for many geophysical applications. Sentinel 1 SAR wave mode…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
While Multimodal Large Language Models have achieved human-like performance on many visual and textual reasoning tasks, their proficiency in fine-grained spatial understanding, such as route tracing on maps remains limited. Unlike humans,…
The upcoming Surface Water Ocean Topography (SWOT) satellite altimetry mission is expected to yield two-dimensional high-resolution measurements of Sea Surface Height (SSH), thus allowing for a better characterization of the mesoscale and…
Topology reasoning is crucial for autonomous driving as it enables comprehensive understanding of connectivity and relationships between lanes and traffic elements. While recent approaches have shown success in perceiving driving topology…
Satellite-based Synthetic Aperture Radar (SAR) images can be used as a source of remote sensed imagery regardless of cloud cover and day-night cycle. However, the speckle noise and varying image acquisition conditions pose a challenge for…
4D radars are increasingly favored for odometry and mapping of autonomous systems due to their robustness in harsh weather and dynamic environments. Existing datasets, however, often cover limited areas and are typically captured using a…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…
Four-dimensional variational data assimilation (4D-Var) on a seasonal-to-interdecadal time scale under the existence of unstable modes can be viewed as an optimization problem of synchronized, coupled chaotic systems. The problem is tackled…
We demonstrate a formulation of the Azouani-Olson-Titi (AOT) algorithm in the MPAS-Ocean implementation of the primitive equations of the ocean, presenting global ocean simulations with realistic coastlines and bathymetry. We observe an…
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement from a miniature optical time-of-flight sensor. The key to our…
While the formulation of most data assimilation schemes assumes an unbiased observation model error, in real applications, model error with nontrivial biases is unavoidable. A practical example is the error in the radiative transfer model…
The calibration of extrinsic parameters and clock offsets between sensors for high-accuracy performance in underwater SLAM systems remains insufficiently explored. Existing methods for Doppler Velocity Log (DVL) calibration are either…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Synthetic aperture radar technology is crucial for high-resolution imaging under various conditions; however, the acquisition of real-world synthetic aperture radar data for deep learning-based automatic target recognition remains…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Despite recent progress in computer vision, finegrained interpretation of satellite images remains challenging because of a lack of labeled training data. To overcome this limitation, we construct a novel dataset called WikiSatNet by…
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable features in different radar scans, or by relying on measurements…
Data-driven methods have demonstrated strong predictive capabilities in fluid mechanics, yet most current applications still focus on simplified configurations, often characterised by statistical stationarity or limited temporal…