Related papers: Human Centric Accessibility Graph For Environment …
Humans are in constant contact with the world as they move through it and interact with it. This contact is a vital source of information for understanding 3D humans, 3D scenes, and the interactions between them. In fact, we demonstrate…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…
This paper introduces and demonstrates a computational pipeline for the statistical analysis of shape graph datasets, namely geometric networks embedded in 2D or 3D spaces. Unlike traditional abstract graphs, our purpose is not only to…
In the last decades, the acceleration of urban growth has led to an unprecedented level of urban interactions and interdependence. This situation calls for a significant effort among the scientific community to come up with engaging and…
The hippocampal formation is thought to learn spatial maps of environments, and in many models this learning process consists of forming a sensory association for each location in the environment. This is inefficient, akin to learning a…
Effectively medication recommendation with complex multimorbidity conditions is a critical task in healthcare. Most existing works predicted medications based on longitudinal records, which assumed the information transmitted patterns of…
Built environment auditing refers to the systematic documentation and assessment of urban and rural spaces' physical, social, and environmental characteristics, such as walkability, road conditions, and traffic lights. It is used to collect…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
Tactile maps are commonly used to give visually impaired users access to geographical representations. Although those relief maps are efficient tools for acquisition of spatial knowledge, they present several limitations and issues such as…
Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…
The current National Airspace System (NAS) is reaching capacity due to increased air traffic, and is based on outdated pre-tactical planning. This study proposes a more dynamic airspace configuration (DAC) approach that could increase…
Schematic maps are in daily use to show the connectivity of subway systems and to facilitate travellers to plan their journeys effectively. This study surveys up-to-date algorithmic approaches in order to give an overview of the state of…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
Scheduling is a key decision-making process to improve the performance of flexible manufacturing systems. Place-timed Petri nets provide a formal method for graphically modeling and analyzing such systems. By generating reachability graphs…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
Visual information plays an indispensable role in our daily interactions with environment. Such information is manipulated for a wide range of purposes spanning from basic object and material perception to complex gesture interpretations.…
Humans inherently recognize objects via selective visual perception, transform specific regions from the visual field into structured symbolic knowledge, and reason their relationships among regions based on the allocation of limited…
Modeling human trajectories in crowded environments is challenging due to the complex nature of pedestrian behavior and interactions. This paper proposes a geometric graph neural network (GNN) architecture that integrates domain knowledge…
Accessibility is essential for designing inclusive urban systems. However, the attempt to capture the complexity of accessibility in a single universal metric has often limited its effective use in design, measurement, and governance across…