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For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
Adapting models pre-trained on large-scale datasets is a proven way to reach strong performance quickly for down-stream tasks. However, the growth of state-of-the-art mod-els makes traditional full fine-tuning unsuitable and difficult,…
Recovering the scene depth from a single image is an ill-posed problem that requires additional priors, often referred to as monocular depth cues, to disambiguate different 3D interpretations. In recent works, those priors have been learned…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
Monocular normal estimation aims to estimate the normal map from a single RGB image of an object under arbitrary lights. Existing methods rely on deep models to directly predict normal maps. However, they often suffer from 3D misalignment:…
In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…
Polarimetric synthetic aperture radar (PolSAR) image classification has been investigated vigorously in various remote sensing applications. However, it is still a challenging task nowadays. One significant barrier lies in the speckle…
Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
Spaceborne synthetic aperture radar (SAR) can provide accurate images of the ocean surface roughness day-or-night in nearly all weather conditions, being an unique asset for many geophysical applications. Considering the huge amount of data…
This paper studies the numerical approximation of parametric time-dependent partial differential equations (PDEs) by proper orthogonal decomposition reduced order models (POD-ROMs). Although many papers in the literature consider reduced…
In an ever-increasing interest for Machine Learning (ML) and a favorable data development context, we here propose an original methodology for data-based prediction of two-dimensional physical fields. Polynomial Chaos Expansion (PCE),…
Despeckling is a crucial noise reduction task in improving the quality of synthetic aperture radar (SAR) images. Directly obtaining noise-free SAR images is a challenging task that has hindered the development of accurate despeckling…
We present FLARE, a feed-forward model designed to infer high-quality camera poses and 3D geometry from uncalibrated sparse-view images (i.e., as few as 2-8 inputs), which is a challenging yet practical setting in real-world applications.…
Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…
Recent advances in depth sensing technologies allow fast electronic maneuvering of the laser beam, as opposed to fixed mechanical rotations. This will enable future sensors, in principle, to vary in real-time the sampling pattern. We…
Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…
Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial…