相关论文: Mapping Three-dimensional Urban Structure by Fusin…

We propose a pipeline for combined multi-class object geolocation and height estimation from street level RGB imagery, which is considered as a single available input data modality. Our solution is formulated via Markov Random Field…

Accurate visual localization in dense urban environments poses a fundamental task in photogrammetry, geospatial information science, and robotics. While imagery is a low-cost and widely accessible sensing modality, its effectiveness on…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

Delivery robots aim to achieve high precision to facilitate complete autonomy. A precise three-dimensional point cloud map of sidewalk surroundings is required to estimate self-location. With or without the loop closing method, the…

Automated 3D city generation, focusing on road networks and building layouts, is in high demand for applications in urban design, multimedia games and autonomous driving simulations. The surge of generative AI facilitates designing city…

Climate models lack the necessary resolution for urban climate studies, requiring computationally intensive processes to estimate high resolution air temperatures. In contrast, Data-driven approaches offer faster and more accurate air…

Modelling the impact of a material's mesostructure on device level performance typically requires access to 3D image data containing all the relevant information to define the geometry of the simulation domain. This image data must include…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

Accurate modelling of local population movement patterns is a core contemporary concern for urban policymakers, affecting both the short term deployment of public transport resources and the longer term planning of transport infrastructure.…

Developing countries usually lack the proper governance means to generate and regularly update a national rooftop map. Using traditional photogrammetry and surveying methods to produce a building map at the federal level is costly and time…

With deep learning becoming a more prominent approach for automatic classification of three-dimensional point cloud data, a key bottleneck is the amount of high quality training data, especially when compared to that available for…

Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…

In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…

Outdoor maps and navigation information delivered by modern services and technologies like Google Maps and Garmin navigators have revolutionized the lifestyle of many people. Motivated by the desire for similar navigation systems for indoor…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

Three-dimensional (3D) urban models have gained interest because of their applications in many use-cases such as urban planning and virtual reality. However, generating these 3D representations requires LiDAR data, which are not always…

A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…

This paper proposes a novel framework for fusing multi-temporal, multispectral satellite images and OpenStreetMap (OSM) data for the classification of local climate zones (LCZs). Feature stacking is the most commonly-used method of data…