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Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Generating realistic building layouts for automatic building design has been studied in both the computer vision and architecture domains. Traditional approaches from the architecture domain, which are based on optimization techniques or…
Understanding design decisions in relation to the future occupants of a building is a crucial part of good design. However, limitations in tools and expertise hinder meaningful human-centric decisions during the design process. In this…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
When navigating in a man-made environment they haven't visited before--like an office building--humans employ behaviors such as reading signs and asking others for directions. These behaviors help humans reach their destinations efficiently…
Recent studies have investigated new approaches for communicating an autonomous vehicle's (AV) intent and awareness to pedestrians. This paper adds to this body of work by presenting the design and evaluation of in-situ projections on the…
Current exploration methods struggle to search for shops or restaurants in unknown open-world environments due to the lack of prior knowledge. Humans can leverage venue maps that offer valuable scene priors to aid exploration planning by…
Graphic Design encompasses a wide range of activities from the design of traditional print media (e.g., books and posters) to site-specific (e.g., signage systems) and electronic media (e.g., interfaces). Its practice always explores the…
Dashboards, which comprise multiple views on a single display, help analyze and communicate multiple perspectives of data simultaneously. However, creating effective and elegant dashboards is challenging since it requires careful and…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Advancements in generative artificial intelligence (AI) have introduced various AI models capable of producing impressive visual design outputs. However, when it comes to AI models in the design process, prioritizing outputs that align with…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…
Millions of blind and visually-impaired (BVI) people navigate urban environments every day, using smartphones for high-level path-planning and white canes or guide dogs for local information. However, many BVI people still struggle to…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…