Cédric Pradalier

Salim Khazem, Jeremy Fix, Cédric Pradalier

The quality of a wood log in the wood industry depends heavily on the presence of both outer and inner defects, including inner knots that are a result of the growth of tree branches. Today, locating the inner knots require the use of expensive equipment such as X-ray scanners. In this paper, we address the task of predicting the location of inner defects from the outer shape of the logs. The dataset is built by extracting both the contours and the knots with X-ray measurements. We propose to solve this binary segmentation task by leveraging convolutional recurrent neural networks. Once the neural network is trained, inference can be performed from the outer shape measured with cheap devices such as laser profilers. We demonstrate the effectiveness of our approach on fir and spruce tree species and perform ablation on the recurrence to demonstrate its importance.

Aishwarya Venkataramanan, Martin Laviale, Cédric Pradalier

Most of the research in content-based image retrieval (CBIR) focus on developing robust feature representations that can effectively retrieve instances from a database of images that are visually similar to a query. However, the retrieved images sometimes contain results that are not semantically related to the query. To address this, we propose a method for CBIR that captures both visual and semantic similarity using a visual hierarchy. The hierarchy is constructed by merging classes with overlapping features in the latent space of a deep neural network trained for classification, assuming that overlapping classes share high visual and semantic similarities. Finally, the constructed hierarchy is integrated into the distance calculation metric for similarity search. Experiments on standard datasets: CUB-200-2011 and CIFAR100, and a real-life use case using diatom microscopy images show that our method achieves superior performance compared to the existing methods on image retrieval.

Luis F. W. Batista, Stéphanie Aravecchia, Seth Hutchinson et al.

Despite significant advancements in Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), their robustness in real-world conditions, particularly under external disturbances, remains insufficiently explored. In this paper, we evaluate the resilience of a DRL-based agent designed to capture floating waste under various perturbations. We train the agent using domain randomization and evaluate its performance in real-world field tests, assessing its ability to handle unexpected disturbances such as asymmetric drag and an off-center payload. We assess the agent's performance under these perturbations in both simulation and real-world experiments, quantifying performance degradation and benchmarking it against an MPC baseline. Results indicate that the DRL agent performs reliably despite significant disturbances. Along with the open-source release of our implementation, we provide insights into effective training strategies, real-world challenges, and practical considerations for deploying DRLbased ASV controllers.

Salim Khazem, Jeremy Fix, Cédric Pradalier

Deep learning models have achieved significant success in various image related tasks. However, they often encounter challenges related to computational complexity and overfitting. In this paper, we propose an efficient approach that leverages polygonal representations of images using dominant points or contour coordinates. By transforming input images into these compact forms, our method significantly reduces computational requirements, accelerates training, and conserves resources making it suitable for real time and resource constrained applications. These representations inherently capture essential image features while filtering noise, providing a natural regularization effect that mitigates overfitting. The resulting lightweight models achieve performance comparable to state of the art methods using full resolution images while enabling deployment on edge devices. Extensive experiments on benchmark datasets validate the effectiveness of our approach in reducing complexity, improving generalization, and facilitating edge computing applications. This work demonstrates the potential of polygonal representations in advancing efficient and scalable deep learning solutions for real world scenarios. The code for the experiments of the paper is provided in https://github.com/salimkhazem/PolygoNet.

Luis F. W. Batista, Stéphanie Aravecchia, Cédric Pradalier

Autonomous surface vessels for floating-waste removal operate under varying hydrodynamics, external disturbances, and challenging water-surface perception. We present a field-validated system that combines camera-based polarimetric perception with a lightweight DRL-based controller for floating-waste detection and capture. Camera detections are converted into water-surface target points and tracked by a controller trained entirely in simulation and deployed directly on a retrofitted ASV platform. Our main contribution is a sim-to-real testing methodology that combines a two-stage simulation protocol with a perception abstraction module designed to mimic real camera behavior, enabling reproducible field trials and explicit evaluation of the sim-to-real gap. We apply this framework in matched simulation and field experiments across 14 disturbance regimes to expose failure modes and evaluate robustness. The results show centimeter-level terminal accuracy and indicate robust control performance under the evaluated perturbation regimes. The main source of degradation is insufficient actuation-model fidelity. We also demonstrate the system in a search-and-capture application using real camera detections in real-world conditions over areas of up to $450~m^2$. The study distills practical lessons for reliable transfer, including improved actuation-model fidelity, targeted domain randomization, and careful management of latency and timestamps across modules, while highlighting remaining challenges.

Gerry Chen, Sunil Kumar Narayanan, Thomas Gautier Ottou et al.

Hyperspectral Imagery (HSI) has been used in many applications to non-destructively determine the material and/or chemical compositions of samples. There is growing interest in creating 3D hyperspectral reconstructions, which could provide both spatial and spectral information while also mitigating common HSI challenges such as non-Lambertian surfaces and translucent objects. However, traditional 3D reconstruction with HSI is difficult due to technological limitations of hyperspectral cameras. In recent years, Neural Radiance Fields (NeRFs) have seen widespread success in creating high quality volumetric 3D representations of scenes captured by a variety of camera models. Leveraging recent advances in NeRFs, we propose computing a hyperspectral 3D reconstruction in which every point in space and view direction is characterized by wavelength-dependent radiance and transmittance spectra. To evaluate our approach, a dataset containing nearly 2000 hyperspectral images across 8 scenes and 2 cameras was collected. We perform comparisons against traditional RGB NeRF baselines and apply ablation testing with alternative spectra representations. Finally, we demonstrate the potential of hyperspectral NeRFs for hyperspectral super-resolution and imaging sensor simulation. We show that our hyperspectral NeRF approach enables creating fast, accurate volumetric 3D hyperspectral scenes and enables several new applications and areas for future study.

Assia Benbihi, Cédric Pradalier, Ondřej Chum

We introduce Object-Guided Localization (OGuL) based on a novel method of local-feature matching. Direct matching of local features is sensitive to significant changes in illumination. In contrast, object detection often survives severe changes in lighting conditions. The proposed method first detects semantic objects and establishes correspondences of those objects between images. Object correspondences provide local coarse alignment of the images in the form of a planar homography. These homographies are consequently used to guide the matching of local features. Experiments on standard urban localization datasets (Aachen, Extended-CMU-Season, RobotCar-Season) show that OGuL significantly improves localization results with as simple local features as SIFT, and its performance competes with the state-of-the-art CNN-based methods trained for day-to-night localization.

Aishwarya Venkataramanan, Martin Laviale, Cécile Figus et al.

Automatic classification of aquatic microorganisms is based on the morphological features extracted from individual images. The current works on their classification do not consider the inter-class similarity and intra-class variance that causes misclassification. We are particularly interested in the case where variance within a class occurs due to discrete visual changes in microscopic images. In this paper, we propose to account for it by partitioning the classes with high variance based on the visual features. Our algorithm automatically decides the optimal number of sub-classes to be created and consider each of them as a separate class for training. This way, the network learns finer-grained visual features. Our experiments on two databases of freshwater benthic diatoms and marine plankton show that our method can outperform the state-of-the-art approaches for classification of these aquatic microorganisms.

Mohamed Mejri, Antoine Richard, Cédric Pradalier

The analysis of the internal structure of trees is highly important for both forest experts, biological scientists, and the wood industry. Traditionally, CT-scanners are considered as the most efficient way to get an accurate inner representation of the tree. However, this method requires an important investment and reduces the cost-effectiveness of this operation. Our goal is to design neural-network-based methods to predict the internal density of the tree from its external bark shape. This paper compares different image-to-image(2D), volume-to-volume(3D) and Convolutional Long Short Term Memory based neural network architectures in the context of the prediction of the defect distribution inside trees from their external bark shape. Those models are trained on a synthetic dataset of 1800 CT-scanned look-like volumetric structures of the internal density of the trees and their corresponding external surface.

Alberto Pretto, Stéphanie Aravecchia, Wolfram Burgard et al.

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention.

Assia Benbihi, Stéphanie Aravecchia, Matthieu Geist et al.

Most of the research effort on image-based place recognition is designed for urban environments. In bucolic environments such as natural scenes with low texture and little semantic content, the main challenge is to handle the variations in visual appearance across time such as illumination, weather, vegetation state or viewpoints. The nature of the variations is different and this leads to a different approach to describing a bucolic scene. We introduce a global image descriptor computed from its semantic and topological information. It is built from the wavelet transforms of the image semantic edges. Matching two images is then equivalent to matching their semantic edge descriptors. We show that this method reaches state-of-the-art image retrieval performance on two multi-season environment-monitoring datasets: the CMU-Seasons and the Symphony Lake dataset. It also generalises to urban scenes on which it is on par with the current baselines NetVLAD and DELF.

Assia Benbihi, Matthieu Geist, Cédric Pradalier

This paper introduces a novel feature detector based only on information embedded inside a CNN trained on standard tasks (e.g. classification). While previous works already show that the features of a trained CNN are suitable descriptors, we show here how to extract the feature locations from the network to build a detector. This information is computed from the gradient of the feature map with respect to the input image. This provides a saliency map with local maxima on relevant keypoint locations. Contrary to recent CNN-based detectors, this method requires neither supervised training nor finetuning. We evaluate how repeatable and how matchable the detected keypoints are with the repeatability and matching scores. Matchability is measured with a simple descriptor introduced for the sake of the evaluation. This novel detector reaches similar performances on the standard evaluation HPatches dataset, as well as comparable robustness against illumination and viewpoint changes on Webcam and photo-tourism images. These results show that a CNN trained on a standard task embeds feature location information that is as relevant as when the CNN is specifically trained for feature detection.

Assia Benbihi, Matthieu Geist, Cédric Pradalier

Deep learning generates state-of-the-art semantic segmentation provided that a large number of images together with pixel-wise annotations are available. To alleviate the expensive data collection process, we propose a semi-supervised domain adaptation method for the specific case of images with similar semantic content but different pixel distributions. A network trained with supervision on a past dataset is finetuned on the new dataset to conserve its features maps. The domain adaptation becomes a simple regression between feature maps and does not require annotations on the new dataset. This method reaches performances similar to classic transfer learning on the PASCAL VOC dataset with synthetic transformations.