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Real-time multimodal semantic scene understanding for autonomous UGV navigation / Yifei Zhang (2021)
Titre : Real-time multimodal semantic scene understanding for autonomous UGV navigation Type de document : Thèse/HDR Auteurs : Yifei Zhang, Auteur ; Fabrice Mériaudeau, Directeur de thèse ; Désiré Sidibé, Directeur de thèse Editeur : Dijon : Université Bourgogne Franche-Comté UBFC Année de publication : 2021 Importance : 114 p. Format : 21 x 30 cm Note générale : Bibliographie
Thèse pour obtenir le doctorat de l'Université Bourgogne Franche-Comté, Spécialité Instrumentation et informatique d’imageLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image mixte
[Termes IGN] données polarimétriques
[Termes IGN] fusion d'images
[Termes IGN] image RVB
[Termes IGN] intégration de données
[Termes IGN] navigation autonome
[Termes IGN] segmentation sémantique
[Termes IGN] temps réel
[Termes IGN] véhicule sans piloteIndex. décimale : THESE Thèses et HDR Résumé : (Auteur) Robust semantic scene understanding is challenging due to complex object types, as well as environmental changes caused by varying illumination and weather conditions. This thesis studies the problem of deep semantic segmentation with multimodal image inputs. Multimodal images captured from various sensory modalities provide complementary information for complete scene understanding. We provided effective solutions for fully-supervised multimodal image segmentation and few-shot semantic segmentation of the outdoor road scene. Regarding the former case, we proposed a multi-level fusion network to integrate RGB and polarimetric images. A central fusion framework was also introduced to adaptively learn the joint representations of modality-specific features and reduce model uncertainty via statistical post-processing.In the case of semi-supervised semantic scene understanding, we first proposed a novel few-shot segmentation method based on the prototypical network, which employs multiscale feature enhancement and the attention mechanism. Then we extended the RGB-centric algorithms to take advantage of supplementary depth cues. Comprehensive empirical evaluations on different benchmark datasets demonstrate that all the proposed algorithms achieve superior performance in terms of accuracy as well as demonstrating the effectiveness of complementary modalities for outdoor scene understanding for autonomous navigation. Note de contenu : 1. Introduction
1.1 Context and Motivation
1.2 Background and Challenges
1.3 Contributions
1.4 Organization
2. Background on Neural Networks
2.1 Basic Concepts
2.2 Neural Network Layers
2.3 Optimization
2.4 Model Training
2.5 Evaluation Metrics
2.6 Summary
3. Literature Review
3.1 Fully-supervised Semantic Image
3.2 Datasets
3.3 Summary
4. Deep Multimodal Fusion for Semantic Image Segmentation
4.1 CMNet: Deep Multimodal Fusion
4.2 A Central Multimodal Fusion Framework
4.3 Summary
5. Few-shot Semantic Image Segmentation
5.1 Introduction on Few-shot Segmentation
5.2 MAPnet: A Multiscale Attention-Based Prototypical Network
5.3 RDNet: Incorporating Depth Information into Few-shot Segmentation
5.4 Summary
6. Conclusion and Future Work
6.1 General Conclusion
6.2 Future PerspectivesNuméro de notice : 26527 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse française Note de thèse : Thèse de Doctorat : Instrumentation et informatique d’image : Bourgogne : 2021 nature-HAL : Thèse Date de publication en ligne : 02/03/2021 En ligne : https://hal.science/tel-03154783v1 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97556 Remote sensing analysis of small scale dynamic phenomena in the atmospheric boundary layer / Kostas Cheliotis (2021)
Titre : Remote sensing analysis of small scale dynamic phenomena in the atmospheric boundary layer Type de document : Thèse/HDR Auteurs : Kostas Cheliotis, Auteur ; Hervé Delbarre, Auteur Editeur : Dunkerque : Université du Littoral-Côte-d'Opale Année de publication : 2021 Importance : 139 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse présentée pour obtenir le grade de Docteur de l’Université du Littoral Côte d’Opale, Mention : Physique, Spécialité : Milieux dilués et optiques fondamentalesLangues : Français (fre) Descripteur : [Vedettes matières IGN] Atmosphère
[Termes IGN] analyse discriminante
[Termes IGN] analyse texturale
[Termes IGN] balayage laser
[Termes IGN] classification dirigée
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] effet atmosphérique
[Termes IGN] lidar à effet Doppler
[Termes IGN] lidar atmosphérique
[Termes IGN] météorologie
[Termes IGN] ventIndex. décimale : THESE Thèses et HDR Résumé : (auteur) The aim of this thesis project was to study the coherent turbulent structures (convective rolls & streaks) and more generally the medium to large fluctuations in the atmospheric boundary layer using the observations recorded by a single Doppler (wind) lidar during a 2-month campaign in Paris, France. An innovative method was developed in order to classify automatically the radial wind speed patterns visible on the quasi-horizontal lidar scans, based on texture analysis parameters and supervised machine learning algorithms. A 150-case training ensemble was built using ancillary data (satellite pictures and weather observations) to ascertain the manual classification into four types: rolls, thermals, streaks and “others”. The performance of the classification process was assessed on the training ensemble using the 10-fold cross-validation method. A very satisfying 9% error was obtained for the Quadratic Discriminant Analysis algorithm, using only 5 texture analysis parameters classifiers. This process was then applied to classify the whole dataset (4577 lidar scans) and the results showed that the classified structures respected a plausible diurnal cycle and were associated with the meteorological parameters as expected by the theoretical knowledge. The size of the coherent structures in the direction transverse to the mean wind were estimated from the wind spectrums on a four-day case study. They ranged from 400 to 800 m for the cases classified as streaks, and from 1.3 to 2.0 km for the cases classified as rolls. These results pave the way for future long-term studies providing statistical insight on the frequency of occurrence of the different structure types, their physical properties, and their impact on pollutants’ concentrations. Numéro de notice : 28616 Affiliation des auteurs : non IGN Nature : Thèse française Note de thèse : Thèse de Doctorat : Milieux dilués et optiques fondamentales : Côte d'Opale : France : 2021 Organisme de stage : Laboratoire de Physico-Chimie de l'Atmosphère DOI : sans En ligne : https://hal.science/tel-03259369/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99504 Remote sensing and GIS / Basudeb Bhatta (2021)
Titre : Remote sensing and GIS Type de document : Guide/Manuel Auteurs : Basudeb Bhatta, Auteur Mention d'édition : 3ème édition Editeur : Oxford, Londres, ... : Oxford University Press Année de publication : 2021 Importance : 752 p. Format : 24 x 18 cm ISBN/ISSN/EAN : 978-0-19-949664-8 Note générale : Bibliographie
additional reading material with Oxford arealLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Télédétection
[Termes IGN] acquisition d'images
[Termes IGN] airborne multispectral scanner
[Termes IGN] analyse spatiale
[Termes IGN] Global Navigation Satellite System
[Termes IGN] image hyperspectrale
[Termes IGN] image thermique
[Termes IGN] interféromètrie par radar à antenne synthétique
[Termes IGN] Lidar
[Termes IGN] modèle numérique de surface
[Termes IGN] modèle numérique de terrain
[Termes IGN] modélisation 3D
[Termes IGN] orthorectification
[Termes IGN] Passive and Active L and S band Sensor
[Termes IGN] photographie aérienne
[Termes IGN] Satellite Microwave Radiometer
[Termes IGN] scène 3D
[Termes IGN] stéréoscopie
[Termes IGN] système d'information géographique
[Termes IGN] traitement d'image
[Termes IGN] visualisation 3DIndex. décimale : 35.00 Télédétection - généralités Résumé : (Editeur) Beginning with the history and basic concepts of remote sensing and GIS, the book gives an exhaustive coverage of optical, thermal, and microwave remote sensing, global navigation satellite systems (such as GPS and IRNSS), digital photogrammetry, visual image analysis, digital image processing, spatial and attribute data model, geospatial analysis, and planning, implementation, and management of GIS. It also presents the modern trends of remote sensing and GIS with an illustrated discussion on its numerous applications. Note de contenu : 1. Concept of Remote Sensing
1.1 Introduction
1.2 Distance of Remote Sensing
1.3 Definition of Remote Sensing
1.4 Remote Sensing: Art and/or Science
1.5 Data
1.6 Remote Sensing Process
1.7 Source of Energy
1.8 Interaction with Atmosphere
1.9 Interaction with Target
1.9.1 Hemispherical Absorptance, Transmittance, and Reflectan
1.10 Interaction with the Atmosphere Again
1.11 Recording of Energy by Sensor
1.12 Transmission, Reception, and Processing
1.13 Interpretation and Analysis
1.14 Applications of Remote Sensing
1.15 Advantages of Remote Sensing
1.16 Limitations of Remote Sensing
1.17 Ideal Remote Sensing System
2. Types of Remote Sensing and Sensor Characteristics
2.1 Introduction
2.2 Types of Remote Sensing
2.3 Characteristics of Images
2.4 Orbital Characteristics of Satellite
2.5 Remote Sensing Satellites
2.6 Concept of Swath
2.7 Concept of Nadir
2.8 Sensor Resolutions
2.9 Image Referencing System
2.9.1 Path
2.9.2 Row
2.9.3 Orbital Calendar
3. History of Remote Sensing and Indian Space Program
3.1 Introduction
3.2 The Early Age
3.3 The Middle Age
3.4 The Modern Age or Space Age
3.5 Indian Space Program
4. Photographic Imaging
4.1 Introduction
4.2 Camera Systems
4.3 Types of Camera
4.4 Filter
4.5 Film
4.6 Geometry of Aerial Photography
4.7 Ideal Time and Atmosphere for Aerial Remote Sensing
5. Digital Imaging
5.1 Introduction
5.2 Digital Image
5.3 Sensor
5.4 Imaging by Scanning Technique
5.5 Hyper-spectral Imaging
5.6 Imaging By Non-scanning Technique
5.7 Thermal Remote Sensing
5.8 Other Sensors
6. Microwave Remote Sensing
6.1 Introduction
6.2 Passive Microwave Remote Sensing
6.3 Active Microwave Remote Sensing
6.4 Radar Imaging
6.5 Airborne Versus Space-Borne Radars
6.6 Radar Systems
7. Ground-truth Data and Global Positioning System
7.1 Introduction
7.2 Requirements of Ground-Truth Data
7.3 Instruments for Ground Truthing
7.4 Parameters of Ground Truthing
7.5 Factors of Spectral Measurement
7.6 Global Navigation Satellite System
8. Photogrammetry
8.1 Introduction
8.2 Development of Photogrammetry
8.3 Classification of Photogrammetry
8.4 Photogrammetric Process
8.5 Acquisition of Imagery and its Support Data
8.6 Orientation and Triangulation
8.7 Stereo Model Compilation
8.8 Stereoscopic 3D Viewing
8.9 Stereoscopic Measurement
8.10 DTM/DEM Generation
8.11 Contour Map Generation
8.12 Orthorectification
8.13 3D Feature Extraction
8.14 3D Scene Modelling
8.15 Photogrammetry and LiDAR
8.16 Radargrammetry and Radar Interferometry
8.17 Limitations of Photogrammetry
9. Visual Image Interpretation
9.1 Introduction
9.2 Information Extraction by Human and Computer
9.3 Remote Sensing Data Products
9.4 Border or Marginal Information
9.5 Image Interpretation
9.6 Elements of Visual Image Interpretation
9.7 Interpretation Keys
9.8 Generation of Thematic Maps
9.9 Thermal Image Interpretation
9.10 Radar Image Interpretation
10. Digital Image Processing
10.1 Introduction
10.2 Categorization of Image Processing
10.3 Image Processing Systems
10.4 Digital Image
10.5 Media for Digital Data Recording, Storage, and Distribution
10.6 Data Formats of Digital Image
10.7 Header Information
10.8 Display of Digital Image
10.9 Pre-processing
10.10 Image Enhancement
10.11 Image Transformation
10.12 Image Classification
11. Data Integration, Analysis, and Presentation
11.1 Introduction
11.2 Multi-approach of Remote Sensing
11.3 Integration with Ground Truth and Other Ancillary Data
11.4 Integration of Transformed Data
11.5 Integration with GIS
11.6 Process of Remote Sensing Data Analysis
11.7 The Level of Detail
11.8 Limitations of Remote Sensing Data Analysis
11.9 Presentation
12. Applications of Remote Sensing
12.1 Introduction
12.2 Land Cover and Land Use
12.3 Agriculture
12.4 Forestry
12.5 Geology
12.6 Geomorphology
12.7 Urban Applications
12.8 Hydrology
12.9 Mapping
12.10 Oceans and Coastal Monitoring
12.11 Monitoring of Atmospheric Constituents
PART II Geographic Information Systems and Geospatial Analysis
13. Concept of Geographic Information Systems
13.1 Introduction
13.2 Definitions of GIS
13.3 Key Components of GIS
13.4 GIS-An Integration of Spatial and Attribute Information
13.5 GIS-Three Views of Information System
13.6 GIS and Related Terms
13.7 GIS-A Knowledge Hub
13.8 GIS-A Set of Interrelated Subsystems
13.9 GIS-An Information Infrastructure
13.10 Origin of GIS
14. Functions and Advantages of GIS
14.1 Introduction
14.2 Functions of GIS
14.3 Application Areas of GIS
14.4 Advantages of GIS
14.5 Functional Requirements of GIS
14.6 Limitations of GIS
15. Spatial Data Model
15.1 Introduction
15.2 Spatial, Thematic, and Temporal Dimensions of Geographic Data
15.3 Spatial Entity and Object
15.4 Spatial Data Model
15.5 Raster Data Model
15.6 Vector Data Model
15.7 Raster versus Vector
15.8 Object-Oriented Data Model
15.9 File Formats of Spatial Data
16. Attribute Data Management and Metadata Concept
16.1 Introduction
16.2 Concept of Database and DBMS
16.3 Advantages of DBMS
16.4 Functions of DBMS
16.5 File and Data Access
16.6 Data Models
16.7 Database Models
16.8 Data Models in GIS
16.9 Concept of SQL
16.10 Concept of Metadata
17. Process of GIS
17.1 Introduction
17.2 Data Capture
17.3 Data Sources
17.4 Data Encoding Methods
17.5 Linking of Spatial and Attribute Data
17.6 Organizing Data for Analysis
18. Geospatial Analysis
18.1 Introduction
18.2 Geospatial Data Analysis
18.3 Integration and Modelling of Spatial Data
18.4 Geospatial Data Analysis Methods
18.5 Database Query
18.6 Geospatial Measurements
18.7 Overlay Operations
18.8 Network Analysis
18.9 Surface Analysis
18.10 Geostatistics
18.11 Geovisualization
19. Planning, Implementation, and Management of GIS
19.1 Introduction
19.2 Planning of Project
19.3 Implementation of Project
19.4 Management of Project
19.5 Keys for Successful GIS
19.6 Reasons for Unsuccessful GIS
20. Modern Trends of GIS
20.1 Introduction
20.2 Local to Global Concept in GIS
20.3 Increase in Dimensions in GIS
20.4 Linear to Non-linear Techniques in GIS
20.5 Development in Relation between Geometry and Algebra in GIS
20.6 Development of Common Techniques in GIS
20.7 Integration of GIS and Remote Sensing
20.8 Integration of GIS and Multimedia
20.9 3D GIS
20.9.1 Virtual Reality in GIS
20.10 Integration of 3D GIS and Web GIS
20.11 4D GIS and Real-time GIS
20.12 Mobile GIS
20.12.1 Mobile mapping
20.13 Collaborative GIS (CGIS)
21. Change Detection and Geosimulation
21.1 Visual change detection
21.2 Thresholding
21.3 Image difference
21.4 Image regression
21.5 Image ratioing
21.6 Vegetation index differencing
21.7 Principal component differencing
21.8 Multi-temporal image stock classification
21.9 Post classification comparison
21.10 Change vector analysis
21.12 Cellular automata simulation
21.13 Multi-agent simulation
21.14 ANN learning in simulation
Appendix A - Concept of Map, Coordinate System, and Projection
Appendix B - Concept on Mathematical TopicsNuméro de notice : 26518 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/IMAGERIE/POSITIONNEMENT Nature : Manuel de cours DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97342 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 26518-01 35.00 Livre Centre de documentation Télédétection Disponible A review of image fusion techniques for pan-sharpening of high-resolution satellite imagery / Farzaneh Dadrass Javan in ISPRS Journal of photogrammetry and remote sensing, vol 171 (January 2021)
[article]
Titre : A review of image fusion techniques for pan-sharpening of high-resolution satellite imagery Type de document : Article/Communication Auteurs : Farzaneh Dadrass Javan, Auteur ; Farhad Samadzadegan, Auteur ; Soroosh Mehravar, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 101 - 117 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] affinage d'image
[Termes IGN] analyse de variance
[Termes IGN] fusion d'images
[Termes IGN] image Kompsat
[Termes IGN] image à haute résolution
[Termes IGN] image Geoeye
[Termes IGN] image Ikonos
[Termes IGN] image multibande
[Termes IGN] image panchromatique
[Termes IGN] image Pléiades-HR
[Termes IGN] image Quickbird
[Termes IGN] image Worldview
[Termes IGN] netteté
[Termes IGN] pansharpening (fusion d'images)
[Termes IGN] pouvoir de résolution spectraleRésumé : (auteur) Pan-sharpening methods are commonly used to synthesize multispectral and panchromatic images. Selecting an appropriate algorithm that maintains the spectral and spatial information content of input images is a challenging task. This review paper investigates a wide range of algorithms, including 41 methods. For this purpose, the methods were categorized as Component Substitution (CS-based), Multi-Resolution Analysis (MRA), Variational Optimization-based (VO), and Hybrid and were tested on a collection of 21 case studies. These include images from WorldView-2, 3 & 4, GeoEye-1, QuickBird, IKONOS, KompSat-2, KompSat-3A, TripleSat, Pleiades-1, Pleiades with the aerial platform, and Deimos-2. Neural network-based methods were excluded due to their substantial computational requirements for operational mapping purposes. The methods were evaluated based on four Spectral and three Spatial quality metrics. An Analysis Of Variance (ANOVA) was used to statistically compare the pan-sharpening categories. Results indicate that MRA-based methods performed better in terms of spectral quality, whereas most Hybrid-based methods had the highest spatial quality and CS-based methods had the lowest results both spectrally and spatially. The revisited version of the Additive Wavelet Luminance Proportional Pan-sharpening method had the highest spectral quality, whereas Generalized IHS with Best Trade-off Parameter with Additive Weights showed the highest spatial quality. CS-based methods generally had the fastest run-time, whereas the majority of methods belonging to MRA and VO categories had relatively long run times. Numéro de notice : A2021-014 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2020.11.001 Date de publication en ligne : 21/11/2020 En ligne : https://doi.org/10.1016/j.isprsjprs.2020.11.001 Format de la ressource électronique : url article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=96418
in ISPRS Journal of photogrammetry and remote sensing > vol 171 (January 2021) . - pp 101 - 117[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 081-2021011 SL Revue Centre de documentation Revues en salle Disponible 081-2021013 DEP-RECP Revue LASTIG Dépôt en unité Exclu du prêt 081-2021012 DEP-RECF Revue Nancy Dépôt en unité Exclu du prêt ROYMAGE Project: a transportable clock for geodetic and geophysical applications / Guillaume Lion (2021)
Titre : ROYMAGE Project: a transportable clock for geodetic and geophysical applications Type de document : Article/Communication Auteurs : Guillaume Lion , Auteur Editeur : Saint-Mandé : Institut national de l'information géographique et forestière - IGN (2012-) Année de publication : 2021 Projets : ROYMAGE / Letargat, Rodolphe Conférence : Rencontres de Moriond 2021, 55th Rencontres de Moriond - Gravitation 09/03/2021 11/03/2021 virtuel OA Abstracts only Note générale : bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Géodésie
[Termes IGN] chronométrie
[Termes IGN] décalage d'horloge
[Termes IGN] fibre optique
[Termes IGN] géodésie physique
[Termes IGN] horloge atomiqueRésumé : (auteur) ROYMAGE (hoRloge Optique à Ytterbium Mobile Appliquée à l’exploration GEodésique) is a project funded by the French ANR dedicated to develop a transportable ytterbium (Yb) optical lattice clock. Connected to the fiber network REFIMEVE+, the clock will allow remote clock comparisons to perform chronometric geodesy applications and tests of gravitational time dilation. With a relative frequency uncertainty targeted in the low 10^-17 (equiv. 10 cm in height) at a first step, the clock will provide geopotential measurements which are not directly available with traditional techniques (e.g. GNSS/levelling, InSar, gravimetry, gradiometry). This could revolutionize the determination of the gravity field and geodetic vertical references, the exploration of the Earth’s internal dynamic and the connection between sea level measured either by tide gauges or by satellites. We present here the objectives and motivations for the 4-years project involving 4 partners in the consortium (Observatoire de Paris, IPGP, IGN and SHOM). Numéro de notice : C2021-006 Affiliation des auteurs : UMR IPGP-Géod (2020- ) Thématique : POSITIONNEMENT Nature : Poster nature-HAL : Poster-avec-CL DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97796 Documents numériques
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Odumosu in Reports on geodesy and geoinformatics, vol 110 n° 1 (December 2020)PermalinkTowards online UAS‐based photogrammetric measurements for 3D metrology inspection / Fabio Menna in Photogrammetric record, vol 35 n° 172 (December 2020)PermalinkL’Ultra Wideband, un système de positionnement topographique sans satellite / Joël Van Cranenbroeck in XYZ, n° 165 (décembre 2020)PermalinkAcquisition of weak GPS signals using wavelet-based de-noising methods / Mohaddeseh Sharie in Survey review, vol 52 n° 375 (November 2020)PermalinkVNIR-SWIR superspectral mineral mapping: An example from Cuprite, Nevada / Kathleen E. 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Abdolkarimi in GPS solutions, Vol 24 n° 4 (October 2020)PermalinkA multi-frequency and multi-GNSS method for the retrieval of the ionospheric TEC and intraday variability of receiver DCBs / Min Li in Journal of geodesy, vol 94 n° 10 (October 2020)PermalinkPython software tools for GNSS interferometric reflectometry (GNSS-IR) / Angel Martín in GPS solutions, Vol 24 n° 4 (October 2020)PermalinkUrban Wi-Fi fingerprinting along a public transport route / Guenther Retscher in Journal of applied geodesy, vol 14 n° 4 (October 2020)PermalinkBackground tropospheric delay in geosynchronous synthetic aperture radar / Dexin Li in Remote sensing, vol 12 n° 18 (September-2 2020)PermalinkAn offshore real-time precise point positioning technique based on a single set of BeiDou short-message communication devices / Zhixi Nie in Journal of geodesy, vol 94 n° 9 (September 2020)PermalinkEstimation of frequency and duration of ionospheric disturbances over Turkey with IONOLAB-FFT algorithm / Secil Karatay in Journal of geodesy, vol 94 n° 9 (September 2020)PermalinkEvaluating the accuracy of ALS-based removal estimates against actual logging data / Ville Vähä-Konka in Annals of Forest Science, vol 77 n° 3 (September 2020)PermalinkGNSS scale determination using calibrated receiver and Galileo satellite antenna patterns / Arturo Villiger in Journal of geodesy, vol 94 n° 9 (September 2020)PermalinkHeliport detection using artificial neural networks / Emre Baseski in Photogrammetric Engineering & Remote Sensing, PERS, vol 86 n° 9 (September 2020)Permalink