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Collecting realistic driving trajectories is crucial for training machine learning models that imitate human driving behavior. Most of today's autonomous driving datasets contain only a few trajectories per location and are recorded with…

Plastic pollution is a critical environmental issue, and detecting and monitoring plastic litter is crucial to mitigate its impact. This paper presents the methodology of mapping street-level litter, focusing primarily on plastic waste and…

Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still…

Maps of dynamics are effective representations of motion patterns learned from prior observations, with recent research demonstrating their ability to enhance various downstream tasks such as human-aware robot navigation, long-term human…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…

While Multimodal Large Language Models have achieved human-like performance on many visual and textual reasoning tasks, their proficiency in fine-grained spatial understanding, such as route tracing on maps remains limited. Unlike humans,…

Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…

We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…

Over the last years, several works have explored the application of deep learning algorithms to determine the large-scale signal fading (also referred to as ``path loss'') between transmitter and receiver pairs in urban communication…

Historical maps are invaluable for analyzing long-term changes in transportation and spatial development, offering a rich source of data for evolutionary studies. However, digitizing and classifying road networks from these maps is often…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Self-driving vehicles rely on urban street maps for autonomous navigation. In this paper, we introduce Pix2Map, a method for inferring urban street map topology directly from ego-view images, as needed to continually update and expand…

Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…

We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…

Road network graphs provide critical information for autonomous-vehicle applications, such as drivable areas that can be used for motion planning algorithms. To find road network graphs, manually annotation is usually inefficient and…

This paper explores potential improvements to the Spatial-Temporal Matching algorithm for aligning the GPS trajectories to road networks. While this algorithm is effective, it presents some limitations in computational efficiency and the…

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…

Road transportation is of critical importance for a nation, having profound effects in the economy, the health and life style of its people. With the growth of cities and populations come bigger demands for mobility and safety, creating new…

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…