Related papers: Human Centric Accessibility Graph For Environment …
Human pose estimation (HPE) usually requires large-scale training data to reach high performance. However, it is rather time-consuming to collect high-quality and fine-grained annotations for human body. To alleviate this issue, we revisit…
Benchmarking and monitoring urban design and transport features is critical to achieving local and international health and sustainability goals. However, most urban indicator frameworks use coarse spatial scales that only allow…
Reachability analysis is a powerful tool when it comes to capturing the behaviour, thus verifying the safety, of autonomous systems. However, general-purpose methods, such as Hamilton-Jacobi approaches, suffer from the curse of…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…
Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…
Density map is an effective visualization technique for depicting the scalar field distribution in 2D space. Conventional methods for constructing density maps are mainly based on Euclidean distance, limiting their applicability in urban…
Graphs are ubiquitous real-world data structures, and generative models that approximate distributions over graphs and derive new samples from them have significant importance. Among the known challenges in graph generation tasks,…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
Graph learning is naturally well suited for use in symbolic, object-centric planning due to its ability to exploit relational structures exhibited in planning domains and to take as input planning instances with arbitrary numbers of…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
Locational measures of accessibility are widely used in urban and transportation planning to understand the impact of the transportation system on influencing people's access to places. However, there is a considerable lack of measurement…
High fidelity digital 3D environments have been proposed in recent years, however, it remains extremely challenging to automatically equip such environment with realistic human bodies. Existing work utilizes images, depth or semantic maps…
Current web accessibility guidelines ask visualization designers to support screen readers via basic non-visual alternatives like textual descriptions and access to raw data tables. But charts do more than summarize data or reproduce…
The paper addresses the following problem: given a set of man-made shapes, e.g., chairs, can we quickly rank and explore the set of shapes with respect to a given avatar pose? Answering this question requires identifying which shapes are…
Graph vertex ordering is widely employed in spatial data analysis, especially in urban analytics, where street graphs serve as spatial discretization for modeling and simulation. It is also crucial for visualization, as many methods require…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…