Simon Lacroix

Cyril Roussillon, Aurelien Gonzalez, Joan Solà et al.

This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.

Timothée Gavin, Simon Lacroix, Murat Bronz

This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are controlled by separate policies trained with Proximal Policy Optimization (PPO). We introduce a high-fidelity simulation environment that integrates a realistic quadrotor dynamics model and a low-level control architecture implemented in JAX, which allows for fast parallelized execution on GPUs. We train the agents using low-level control, collective thrust and body rates, to achieve agile flights both for the interceptor and the target. We compare the performance of the trained policies in terms of catch rate, time to catch, and crash rate, against common heuristic baselines and show that our solution outperforms these baselines for interception of agile targets. Finally, we demonstrate the performance of the trained policies in a scaled real-world scenario using agile drones inside an indoor flight arena.

Trung-tin Dinh, Hervé Carfantan, Antoine Monmayrant et al.

We propose an unsupervised classification method using a limited number of coded acquisitions from a DD-CASSI hyperspectral imager. Based on a simple model of intra-class spectral variability, this approach allow to identify classes and estimate reference spectra, despite data compression by a factor of ten. Here, we highlight the limitations of the ground truths commonly used to evaluate this type of method: lack of a clear definition of the notion of class, high intra-class variability, and even classification errors. Using the Pavia University scene, we show that with simple assumptions, it is possible to detect regions that are spectrally more coherent, highlighting the need to rethink the evaluation of classification methods, particularly in unsupervised scenarios.

Léo Paillet, Antoine Rouxel, Hervé Carfantan et al.

This paper introduces a differentiable ray-tracing based model that incorporates aberrations and distortions to render realistic coded hyperspectral acquisitions using Coded-Aperture Spectral Snapshot Imagers (CASSI). CASSI systems can now be optimized in order to fulfill simultaneously several optical design constraints as well as processing constraints. Four comparable CASSI systems with varying degree of optical aberrations have been designed and modeled. The resulting rendered hyperspectral acquisitions from each of these systems are combined with five state-of-the-art hyperspectral cube reconstruction processes. These reconstruction processes encompass a mapping function created from each system's propagation model to account for distortions and aberrations during the reconstruction process. Our analyses show that if properly modeled, the effects of geometric distortions of the system and misalignments of the dispersive elements have a marginal impact on the overall quality of the reconstructed hyperspectral data cubes. Therefore, relaxing traditional constraints on measurement conformity and fidelity to the scene enables the development of novel imaging instruments, guided by performance metrics applied to the design or the processing of acquisitions. By providing a complete framework for design, simulation and evaluation, this work contributes to the optimization and exploration of new CASSI systems, and more generally to the computational imaging community.

Andrea De Maio, Simon Lacroix

Covariance estimation for the Iterative Closest Point (ICP) point cloud registration algorithm is essential for state estimation and sensor fusion purposes. We argue that a major source of error for ICP is in the input data itself, from the sensor noise to the scene geometry. Benefiting from recent developments in deep learning for point clouds, we propose a data-driven approach to learn an error model for ICP. We estimate covariances modeling data-dependent heteroscedastic aleatoric uncertainty, and epistemic uncertainty using a variational Bayesian approach. The system evaluation is performed on LiDAR odometry on different datasets, highlighting good results in comparison to the state of the art.

Andrea De Maio, Simon Lacroix

This paper fosters the idea that deep learning methods can be used to complement classical visual odometry pipelines to improve their accuracy and to associate uncertainty models to their estimations. We show that the biases inherent to the visual odometry process can be faithfully learned and compensated for, and that a learning architecture associated with a probabilistic loss function can jointly estimate a full covariance matrix of the residual errors, defining an error model capturing the heteroscedasticity of the process. Experiments on autonomous driving image sequences assess the possibility to concurrently improve visual odometry and estimate an error associated with its outputs.