相关论文: Machine Vision based Sample-Tube Localization for …
We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terrain costmap, trained self-supervised using IMU-derived…
City-scale 3D surface reconstruction from multiview images for downstream 3D simulation, poses highly challenging problems due to the scale and complexity of urban scenes. Existing city-scale 3D reconstruction methods based on NeRF,…
The inverse scattering problems have been popular for the past thirty years. While very successful in many cases, progress has lagged when only {\em limited-aperture} measurement is available. In this paper, we perform some elementary study…
We introduce MetricHMSR, a novel framework for recovering metric human meshes and 3D scenes from a single monocular image. Existing methods struggle to recover metric scale due to monocular scale ambiguity and weak-perspective camera…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
Multi-view subspace clustering has been applied to applications such as image processing and video surveillance, and has attracted increasing attention. Most existing methods learn view-specific self-representation matrices, and construct a…
Unsupervised source separation involves unraveling an unknown set of source signals recorded through a mixing operator, with limited prior knowledge about the sources, and only access to a dataset of signal mixtures. This problem is…
In this paper, we build autoencoders to learn a latent space from unlabeled image datasets obtained from the Mars rover. Then, once the latent feature space has been learnt, we use k-means to cluster the data. We test the performance of the…
Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…
Text-Video Retrieval (TVR) aims to align and associate relevant video content with corresponding natural language queries. Most existing TVR methods are based on large-scale pre-trained vision-language models (e.g., CLIP). However, due to…
The analysis of the surface texture from the particle (grain size, shape and internal structure) to its organization (surface roughness) provides information on the geological processes. CRISM multi-angular observations (varied emission…
Combining multi-spectral satellite data and machine learning has been suggested as a method for monitoring plastic pollutants in the ocean environment. Recent studies have made theoretical progress regarding the identification of marine…
This paper concerns electromagnetic 3D subsurface imaging in connection with sparsity of signal sources. We explored an imaging approach that can be implemented in situations that allow obtaining a large amount of data over a surface or a…
We study a multiple measurement vector (MMV) approach to synthetic aperture radar (SAR) imaging of scenes with direction dependent reflectivity and with polarization diverse measurements. The data are gathered by a moving transmit- receive…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Space exploration has been on the rise since the 1960s. Along with the other planets such as Mercury, Venus, Saturn, and Jupiter, Mars certainly plays a significant role in the history of space exploration and has the potential to be the…
SAR (Synthetic Aperture Radar) tomography reconstructs 3-D volumes from stacks of SAR images. High-resolution satellites such as TerraSAR-X provide images that can be combined to produce 3-D models. In urban areas, sparsity priors are…
Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…
In the Global Navigation Satellite System (GNSS) context, the growing number of available satellites has lead to many challenges when it comes to choosing the most accurate pseudorange contributions, given the strong impact of biased…