Related papers: Walk2Map: Extracting Floor Plans from Indoor Walk …
This paper presents the large and diverse dataset for development of smartphone-based pedestrian navigation algorithms. This dataset consists of about 1200 sets of inertial measurements from sensors of several smartphones. The measurements…
We address the task of converting a floorplan and a set of associated photos of a residence into a textured 3D mesh model, a task which we call Plan2Scene. Our system 1) lifts a floorplan image to a 3D mesh model; 2) synthesizes surface…
People spend a significant amount of time in indoor spaces (e.g., office buildings, subway systems, etc.) in their daily lives. Therefore, it is important to develop efficient indoor spatial query algorithms for supporting various…
Compared to other biometrics, gait is difficult to conceal and has the advantage of being unobtrusive. Inertial sensors, such as accelerometers and gyroscopes, are often used to capture gait dynamics. These inertial sensors are commonly…
Despite the substantial demand for high-quality, large-area building maps, no established open-source workflow for generating 2D and 3D maps currently exists. This study introduces an automated, open-source workflow for large-scale 2D and…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
Computational methods to compute similarities between floor plans can help architects explore floor plans in large datasets to avoid duplication of designs and to search for existing plans that satisfy their needs. Recently, LayoutGMN…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…
Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or…
The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…
Large-scale analysis of pedestrian infrastructures, particularly sidewalks, is critical to human-centric urban planning and design. Benefiting from the rich data set of planimetric features and high-resolution orthoimages provided through…
We propose a method that can generate customer trajectories and purchasing behaviors in retail stores simultaneously using Transformer-based deep learning structure. Utilizing customer trajectory data, layout diagrams, and retail scanner…
The recognition of information in floor plan data requires the use of detection and segmentation models. However, relying on several single-task models can result in ineffective utilization of relevant information when there are multiple…
We are working towards 3D reconstruction of indoor spaces using a pair of HDR cameras in a stereo vision configuration mounted on an indoor mobile floor robot that captures various textures and spatial features as 2D images and this data is…
Although GPS has been considered a ubiquitous outdoor localization technology, we are still far from a similar technology for indoor environments. While a number of technologies have been proposed for indoor localization, they are isolated…
Machine learning has been considered a promising approach for indoor localization. Nevertheless, the sample efficiency, scalability, and generalization ability remain open issues of implementing learning-based algorithms in practical…
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…