Related papers: Urban volumetrics: spatial complexity and wayfindi…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
The role of spatial data in tackling city-related tasks has been growing in recent years. To use them in machine learning models, it is often necessary to transform them into a vector representation, which has led to the development in the…
Urban analytics utilizes extensive datasets with diverse urban information to simulate, predict trends, and uncover complex patterns within cities. While these data enables advanced analysis, it also presents challenges due to its…
The rapid development of urbanization during the past decades has significantly improved people's lives but also introduced new challenges on effective functional urban planning and transportation management. The functional regions defined…
Urban streets are essential everyday health infrastructure, yet their capacity to support physical activity is unevenly distributed. This study develops a theory-informed and explainable framework to diagnose street-level exercise…
3D scene modeling techniques serve as the bedrocks in the geospatial engineering and computer science, which drives many applications ranging from automated driving, terrain mapping, navigation, virtual, augmented, mixed, and extended…
Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…
With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet…
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
This paper deals with the problem of point-to-point reachability in multi-linear systems. These systems consist of a partition of the Euclidean space into a finite number of regions and a constant derivative assigned to each region in the…
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…
Applications to support pedestrian mobility in urban areas require a complete, and routable graph representation of the built environment. Globally available information, including aerial imagery provides a scalable source for constructing…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
Understanding and modeling human mobility is central to challenges in transport planning, sustainable urban design, and public health. Despite decades of effort, simulating individual mobility remains challenging because of its complex,…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Urban mobility plays a crucial role in the functioning of cities, influencing economic activity, accessibility, and quality of life. However, the effectiveness of analytical models in understanding urban mobility patterns can be…
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…
Human mobility is a fundamental process underpinning socioeconomic life and urban structure. Classic theories, such as egocentric activity spaces and central place theory, provide crucial insights into specific facets of movement, like…
We present simple models of trajectories in space, both in 2D and in 3D. The first examples, which model bicircular moves in the same direction, are classical curves (epicycloids, etc.). Then, we explore bicircular moves in reverse…