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Researcher profile

Hairong Qi

Hairong Qi contributes to research discovery and scholarly infrastructure.

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Computer Visioneess.IV

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Published work

5 published item(s)

preprint2026arXiv

Sat3R: Satellite DSM Reconstruction via RPC-Aware Depth Fine-tuning

Accurate Digital Surface Model (DSM) reconstruction from satellite imagery is critical for applications such as disaster response, urban planning, and large-scale geographic mapping. Existing approaches face a fundamental trade-off: optimization-based methods achieve strong accuracy but require hours of per-scene computation, while generalizable geometry foundation models offer near-instant inference but fail to generalize to satellite imagery due to the domain gap introduced by the Rational Polynomial Camera (RPC) model and mismatched depth scale distributions. We present Sat3R, a feed-forward framework that bridges this gap via RPC-aware metric depth fine-tuning of Depth Anything V2 using the Scale-Invariant Logarithmic (SiLog) loss. By constructing physically consistent pseudo depth supervision from RPC geometry, Sat3R adapts a monocular depth foundation model to the satellite domain without per-scene optimization. Experiments on the DFC2019 benchmark demonstrate that Sat3R reduces MAE by 38% over zero-shot feed-forward baselines and achieves competitive accuracy against optimization-based methods, while delivering over 300x speedup. Sat3R demonstrates that feed-forward models, when properly adapted to the satellite domain, can match optimization-based accuracy at a fraction of the computational cost, paving the way for practical large-scale satellite DSM reconstruction.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection

The perception system in autonomous vehicles is responsible for detecting and tracking the surrounding objects. This is usually done by taking advantage of several sensing modalities to increase robustness and accuracy, which makes sensor fusion a crucial part of the perception system. In this paper, we focus on the problem of radar and camera sensor fusion and propose a middle-fusion approach to exploit both radar and camera data for 3D object detection. Our approach, called CenterFusion, first uses a center point detection network to detect objects by identifying their center points on the image. It then solves the key data association problem using a novel frustum-based method to associate the radar detections to their corresponding object's center point. The associated radar detections are used to generate radar-based feature maps to complement the image features, and regress to object properties such as depth, rotation and velocity. We evaluate CenterFusion on the challenging nuScenes dataset, where it improves the overall nuScenes Detection Score (NDS) of the state-of-the-art camera-based algorithm by more than 12%. We further show that CenterFusion significantly improves the velocity estimation accuracy without using any additional temporal information. The code is available at https://github.com/mrnabati/CenterFusion .

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Radar-Camera Sensor Fusion for Joint Object Detection and Distance Estimation in Autonomous Vehicles

In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point clouds and RGB images. Our radar object proposal network uses radar point clouds to generate 3D proposals from a set of 3D prior boxes. These proposals are mapped to the image and fed into a Radar Proposal Refinement (RPR) network for objectness score prediction and box refinement. The RPR network utilizes both radar information and image feature maps to generate accurate object proposals and distance estimations. The radar-based proposals are combined with image-based proposals generated by a modified Region Proposal Network (RPN). The RPN has a distance regression layer for estimating distance for every generated proposal. The radar-based and image-based proposals are merged and used in the next stage for object classification. Experiments on the challenging nuScenes dataset show our method outperforms other existing radar-camera fusion methods in the 2D object detection task while at the same time accurately estimates objects' distances.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Representative-Discriminative Learning for Open-set Land Cover Classification of Satellite Imagery

Land cover classification of satellite imagery is an important step toward analyzing the Earth's surface. Existing models assume a closed-set setting where both the training and testing classes belong to the same label set. However, due to the unique characteristics of satellite imagery with an extremely vast area of versatile cover materials, the training data are bound to be non-representative. In this paper, we study the problem of open-set land cover classification that identifies the samples belonging to unknown classes during testing, while maintaining performance on known classes. Although inherently a classification problem, both representative and discriminative aspects of data need to be exploited in order to better distinguish unknown classes from known. We propose a representative-discriminative open-set recognition (RDOSR) framework, which 1) projects data from the raw image space to the embedding feature space that facilitates differentiating similar classes, and further 2) enhances both the representative and discriminative capacity through transformation to a so-called abundance space. Experiments on multiple satellite benchmarks demonstrate the effectiveness of the proposed method. We also show the generality of the proposed approach by achieving promising results on open-set classification tasks using RGB images.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Unsupervised Pansharpening Based on Self-Attention Mechanism

Pansharpening is to fuse a multispectral image (MSI) of low-spatial-resolution (LR) but rich spectral characteristics with a panchromatic image (PAN) of high-spatial-resolution (HR) but poor spectral characteristics. Traditional methods usually inject the extracted high-frequency details from PAN into the up-sampled MSI. Recent deep learning endeavors are mostly supervised assuming the HR MSI is available, which is unrealistic especially for satellite images. Nonetheless, these methods could not fully exploit the rich spectral characteristics in the MSI. Due to the wide existence of mixed pixels in satellite images where each pixel tends to cover more than one constituent material, pansharpening at the subpixel level becomes essential. In this paper, we propose an unsupervised pansharpening (UP) method in a deep-learning framework to address the above challenges based on the self-attention mechanism (SAM), referred to as UP-SAM. The contribution of this paper is three-fold. First, the self-attention mechanism is proposed where the spatial varying detail extraction and injection functions are estimated according to the attention representations indicating spectral characteristics of the MSI with sub-pixel accuracy. Second, such attention representations are derived from mixed pixels with the proposed stacked attention network powered with a stick-breaking structure to meet the physical constraints of mixed pixel formulations. Third, the detail extraction and injection functions are spatial varying based on the attention representations, which largely improves the reconstruction accuracy. Extensive experimental results demonstrate that the proposed approach is able to reconstruct sharper MSI of different types, with more details and less spectral distortion as compared to the state-of-the-art.

0 citations0 reviewsNo code linkedOpen access