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Comparing two geometric graphs embedded in space is important in the field of transportation network analysis. Given street maps of the same city collected from different sources, researchers often need to know how and where they differ.…

Pedestrian accessibility is an important factor in urban transport and land use policy and critical for creating healthy, sustainable cities. Developing and evaluating indicators measuring inequalities in pedestrian accessibility can help…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

To operate in an urban environment, an automated vehicle must be capable of accurately estimating its position within a global map reference frame. This is necessary for optimal path planning and safe navigation. To accomplish this over an…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Urban regions are complicated functional systems that are closely associated with and reshaped by human activities. The propagation of online geographic information-sharing platforms and mobile devices equipped with Global Positioning…

A well-defined distance on the parameter space is key to evaluating estimators, ensuring consistency, and building confidence sets. While there are typically standard distances to adopt in a continuous space, this is not the case for…

This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous…

Aerial image analysis at a semantic level is important in many applications with strong potential impact in industry and consumer use, such as automated mapping, urban planning, real estate and environment monitoring, or disaster relief.…

A driving algorithm that aligns with good human driving practices, or at the very least collaborates effectively with human drivers, is crucial for developing safe and efficient autonomous vehicles. In practice, two main approaches are…

The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively…

Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…

This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Road information extraction from 3D point clouds is useful for urban planning and traffic management. Existing methods often rely on local features and the refraction angle of lasers from kerbs, which makes them sensitive to variable kerb…

Photogrammetric mesh models obtained from aerial oblique images have been widely used for urban reconstruction. However, the photogrammetric meshes also suffer from severe texture problems, especially on the road areas due to occlusion.…

We propose a method to procedurally generate a familiar yet complex human artifact: the city. We are not trying to reproduce existing cities, but to generate artificial cities that are convincing and plausible by capturing developmental…