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The increased availability of interactive maps on the Internet and on personal mobile devices has created new challenges in computational cartography and, in particular, for label placement in maps. Operations like rotation, zoom, and…
Automatic road graph extraction from aerial and satellite images is a long-standing challenge. Existing algorithms are either based on pixel-level segmentation followed by vectorization, or on iterative graph construction using next move…
Optimizing paths on networks is crucial for many applications, from subway traffic to Internet communication. As global path optimization that takes account of all path-choices simultaneously is computationally hard, most existing routing…
We propose a new method for inferring roads from GPS trajectories to map construction sites. This task presents a unique challenge due to the erratic and non-standard movement patterns of construction machinery, which significantly diverge…
The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…
In this paper we introduce an iterative voting algorithm and then use it to obtain a rating method which is very robust against collusion attacks as well as random and biased raters. Unlike the previous iterative methods, our method is not…
Graph pattern matching algorithms to handle million-scale dynamic graphs are widely used in many applications such as social network analytics and suspicious transaction detections from financial networks. On the other hand, the computation…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
High definition (HD) map needs to be updated frequently to capture road changes, which is constrained by limited specialized collection vehicles. To maintain an up-to-date map, we explore crowdsourcing data from connected vehicles. Updating…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
The availability of the Global Positioning System (GPS) trajectory data is increasing along with the availability of different GPS receivers and with the increasing use of various mobility services. GPS trajectory is an important data…
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path…
Curating a desirable dataset for training has been the core of building highly capable large language models (Touvron et al., 2023; Achiam et al., 2023; Team et al.,2024). Gradient influence scores (Pruthi et al., 2020; Xia et al., 2024)…
Finding trajectories and discovering motifs that are similar in large datasets is a central problem for a wide range of applications. Solutions addressing this problem usually rely on spatial indexing and on the computation of a similarity…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
Trajectory prediction is crucial for the reliability and safety of autonomous driving systems, yet it remains a challenging task in complex interactive scenarios due to noisy trajectory observations and intricate agent interactions.…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…