Related papers: Urban volumetrics: spatial complexity and wayfindi…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

Microscopic Pedestrian Simulation Model is computer simulation model of pedestrian movement where every pedestrian in the model is treated as individual. Most of pedestrian researches have been done on macroscopic level, which does not…

Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of…

Motivated by applications in robotics and computer vision, we study problems related to spatial reasoning of a 3D environment using sublevel sets of polynomials. These include: tightly containing a cloud of points (e.g., representing an…

High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abstractions, we formulate them in terms of fiber bundles.…

In this paper, we deal with a size-variable group of pedestrians moving in a unknown confined environment and searching for an exit. Pedestrian dynamics are simulated by means of a recently introduced microscopic (agent-based) model,…

The spatial distribution of population and activities within urban areas, or urban form at the mesoscopic scale, is the outcome of multiple antagonist processes. We propose in this paper to benchmark different models of urban morphogenesis,…

In shared spaces, motorized and non-motorized road users share the same space with equal priority. Their movements are not regulated by traffic rules, hence they interact more frequently to negotiate priority over the shared space. To…

Mixed-use urbanism affords access to diverse assortments of land-uses within a pedestrian-accessible context. It confers advantages such as reductions to driving, air pollution, and Body Mass Index with associated increases in active…

Lens visualization has been a prominent research area in the visualization community, fueled by the continuous need to mitigate visual clutter and occlusion resulting from the increase in data volume. Interactive lenses for spatial data,…

Cities are characterized by the coexistence of general aggregate patterns, along with many local variations. This poses challenges for analyses of urban phenomena, which tend to be either too aggregated or too local, depending on the…

Three-dimensional trajectories, or the 3D position and rotation of objects over time, have been shown to encode key aspects of verb semantics (e.g., the meanings of roll vs. slide). However, most multimodal models in NLP use 2D images as…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Urban science has largely relied on universal models, rendering the heterogeneous and locally specific nature of cities effectively invisible. Here we introduce a topological framework that defines and detects localities in human mobility…

Perceptual geometry refers to the interdisciplinary research whose objectives focuses on study of geometry from the perspective of visual perception, and in turn, applies such geometric findings to the ecological study of vision. Perceptual…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…