Related papers: Efficient Generation of Geographically Accurate Tr…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
Real-world graphs exhibit increasing heterophily, where nodes no longer tend to be connected to nodes with the same label, challenging the homophily assumption of classical graph neural networks (GNNs) and impeding their performance.…
SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…
Given a map description through global traversal navigation instructions (e.g., visiting each room sequentially with action signals such as north, west, etc.), an LLM can often infer the implicit spatial layout of the environment and answer…
Synthetic human mobility generation is gaining traction as an ethical and practical approach to supporting the data needs of intelligent urban systems. Existing methods perform well primarily in data-rich cities, while their effectiveness…
Generating high-fidelity synthetic GPS trajectories is increasingly important for applications in transportation, urban planning, and what-if scenario simulation, especially as privacy concerns limit access to real-world mobility data.…
This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…
Accurate Probability of Line-of-Sight (PLoS) modeling is important in evaluating the performance of Unmanned Aerial Vehicle (UAV)-based communication systems in urban environments, where real-time communication and low latency are often…
Standard representational similarity methods align each layer of a network to its best match in another independently, producing asymmetric results, lacking a global alignment score, and struggling with networks of different depths. These…
Planning a public transit network is a challenging optimization problem, but essential in order to realize the benefits of autonomous buses. We propose a novel algorithm for planning networks of routes for autonomous buses. We first train a…
We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…
Millions of slum dwellers suffer from poor accessibility to urban services due to inadequate road infrastructure within slums, and road planning for slums is critical to the sustainable development of cities. Existing re-blocking or…
Line matching plays an essential role in structure from motion (SFM) and simultaneous localization and mapping (SLAM), especially in low-textured and repetitive scenes. In this paper, we present a new method of using a graph convolution…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…
In today's rapidly expanding data landscape, knowledge extraction from unstructured text is vital for real-time analytics, temporal inference, and dynamic memory frameworks. However, traditional static knowledge graph (KG) construction…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
The deployment of autonomous mobile robots is predicated on the availability of environmental maps, yet conventional generation via SLAM (Simultaneous Localization and Mapping) suffers from significant limitations in time, labor, and…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…