Related papers: Human Centric Accessibility Graph For Environment …
Accessibility, defined as travel impedance between spatially dispersed opportunities for activity, is one of the main determinants of public transport use. In-depth understanding of its properties is crucial for optimal public transport…
Pedestrian accessibility is an important factor in urban transport and land use policy and critical for creating healthy, sustainable cities. Developing and evaluating indicators measuring inequalities in pedestrian accessibility can help…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
We present a flexible interactive 3D morpho-kinematical modeling application for astrophysics. Compared to other systems, our application reduces the restrictions on the physical assumptions, data type and amount that is required for a…
Human Mobility has attracted attentions from different fields of studies such as epidemic modeling, traffic engineering, traffic prediction and urban planning. In this survey we review major characteristics of human mobility studies…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
Successful engineering requires environmentally adapted procedural and architectural approaches. While dealing with complicated issues has become an engineering standard mastering uncertainties in complex environment is still a major issue.…
Despite the important role of sidewalks in supporting mobility, accessibility, and public health, there is a lack of high-quality datasets and corresponding analyses on sidewalk existence and condition. Our work explores a twofold vision:…
Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which regions actually support, contain, or contact one another, leading…
Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…
Graph reachability is the task of understanding whether two distinct points in a graph are interconnected by arcs to which in general a semantic is attached. Reachability has plenty of applications, ranging from motion planning to routing.…
Approximate Nearest Neighbor Search (ANNS) in high-dimensional spaces finds extensive applications in databases, information retrieval, recommender systems, etc. While graph-based methods have emerged as the leading solution for ANNS due to…
Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…
Learning to model and reconstruct humans in clothing is challenging due to articulation, non-rigid deformation, and varying clothing types and topologies. To enable learning, the choice of representation is the key. Recent work uses neural…