Related papers: Human Centric Accessibility Graph For Environment …
Consideration of physical dimensions of the user population is essential to design adapted environment. This variability in body dimensions (called "anthropometry") is involved in design tools commonly used today to assess user's…
Estimating the geometry level of human-scene contact aims to ground specific contact surface points at 3D human geometries, which provides a spatial prior and bridges the interaction between human and scene, supporting applications such as…
Most software applications contain graphics such as charts, diagrams and maps. Currently, these graphics are designed with a ``one size fits all" approach and do not cater to the needs of people with disabilities. Therefore, when using…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
People with limited mobility in the U.S. (defined as having difficulty or inability to walk a quarter of a mile without help and without the use of special equipment) face a growing informational gap: while pedestrian routing algorithms are…
Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when humans are present in the environment, detecting their presence…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
Human mobility analysis at urban-scale requires models to represent the complex nature of human movements, which in turn are affected by accessibility to nearby points of interest, underlying socioeconomic factors of a place, and local…
This paper addresses the challenge of object-centric layout generation under spatial constraints, seen in multiple domains including floorplan design process. The design process typically involves specifying a set of spatial constraints…
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…
Unsupervised Domain Adaptation (UDA) is essential for deploying medical segmentation models across diverse clinical environments. Existing methods are fundamentally limited, suffering from semantically unaware feature alignment that results…
Traditional 2D pose estimation models are limited by their category-specific design, making them suitable only for predefined object categories. This restriction becomes particularly challenging when dealing with novel objects due to the…
We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…
Place-based accessibility measures, such as the gravity-based model, are widely applied to study the spatial accessibility of workers to job opportunities in cities. However, gravity-based measures often suffer from three main limitations:…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…
Evaluating the built environment based on visibility has been long used as a tool for human-centric design. The origins of isovists and visibility graphs are within interior spaces, while more recently, these evaluation techniques have been…
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…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
One of the most crucial yet challenging tasks for autonomous vehicles in urban environments is predicting the future behaviour of nearby pedestrians, especially at points of crossing. Predicting behaviour depends on many social and…