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This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
This article analyzes the complex geometry of urban transportation networks as a gateway to understanding their encompassing urban systems. Using a proposed ring-buffer approach and applying it to 50 urban areas in the United States, we…
We present a new framework for the crucial challenge of self-organization of a large sensor network. The basic scenario can be described as follows: Given a large swarm of immobile sensor nodes that have been scattered in a polygonal…
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…
Analyzing 9,000 urban areas' street networks, we identify properties, including extreme betweenness centrality heterogeneity, that typical spatial network models fail to explain. Accordingly we propose a universal, parsimonious, generative…
We present DeepPerimeter, a deep learning based pipeline for inferring a full indoor perimeter (i.e. exterior boundary map) from a sequence of posed RGB images. Our method relies on robust deep methods for depth estimation and wall…
Urban renewal and transformation processes necessitate the preservation of the historical urban fabric, particularly in districts known for their architectural and historical significance. These regions, with their diverse architectural…
Racial segregation is a widespread social and physical phenomenon present in every city across the United States. Although prevalent nationwide, each city has a unique history of racial segregation, resulting in distinct "shapes" of…
Urban systems are composed by complex couplings of several components, and more particularly between the built environment and transportation networks. Their interaction is involved in the emergence of the urban form. We propose in this…
Cities worldwide exhibit a variety of street network patterns and configurations that shape human mobility, equity, health, and livelihoods. This study models and analyzes the street networks of every urban area in the world, using…
Generic event boundary detection (GEBD) aims to identify natural boundaries in a video, segmenting it into distinct and meaningful chunks. Despite the inherent subjectivity of event boundaries, previous methods have focused on deterministic…
We propose a new approach to identifying geographical clustering and hotspots of inequality from decadal census data. We use diffusion mapping to study the 181,408 Output Areas in England and Wales, which allows us to decompose the feature…
Complex networks provide a means to describe cities through their street mesh, expressing characteristics that refer to the structure and organization of an urban zone. Although other studies have used complex networks to model street…
This paper describes the systematic application of local topological methods for detecting interfaces and related anomalies in complicated high-dimensional data. By examining the topology of small regions around each point, one can…
The confluence of recent advances in availability of geospatial information, computing power, and artificial intelligence offers new opportunities to understand how and where our cities differ or are alike. Departing from a traditional…
We present an novel framework for efficiently and effectively extending the powerful continuous diffusion processes to discrete modeling. Previous approaches have suffered from the discrepancy between discrete data and continuous modeling.…
This paper describes an interdisciplinary approach to geometry modeling of geospatial boundaries. The objective is to extract surfaces from irregular spatial patterns using differential geometry and obtain coherent directional predictions…
Urban systems present hierarchical structures at many different scales. These are observed as administrative regional delimitations which are the outcome of complex geographical, political and historical processes which leave almost…
Image geolocalization is a fundamental yet challenging task, aiming at inferring the geolocation on Earth where an image is taken. State-of-the-art methods employ either grid-based classification or gallery-based image-location retrieval,…
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…