相关论文: Favelas 4D: Scalable methods for morphology analys…

Deploying advanced imaging solutions to robotic and autonomous systems by mimicking human vision requires simultaneous acquisition of multiple fields of views, named the peripheral and fovea regions. Low-resolution peripheral field provides…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been…

As a widespread form of informal settlements, urban villages present significant challenges for sustainable urban development and governance. Precise mapping of their infrastructure is essential, however, existing remote sensing datasets…

Organized crime inflicts human suffering on a genocidal scale: the Mexican drug cartels have murdered 150,000 people since 2006, upwards of 700,000 people per year are "exported" in a human trafficking industry enslaving an estimated 40…

The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…

For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…

Planar graphs and their spatial embedding -- planar maps -- are used in many different fields due to their ubiquity in the real world (leaf veins in biology, street patterns in urban studies, etc.) and are also fundamental objects in…

Slums, informal settlements, and deprived areas are urban regions characterized by poverty. According to the United Nations, over one billion people reside in these areas, and this number is projected to increase. Additionally, these…

Cities play a pivotal role in human development and sustainability, yet studying them presents significant challenges due to the vast scale and complexity of spatial-temporal data. One such challenge is the need to uncover universal urban…

Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furniture, or plants. While mapping this clutter is important for…

We present a novel method for local image feature matching. Instead of performing image feature detection, description, and matching sequentially, we propose to first establish pixel-wise dense matches at a coarse level and later refine the…

Location determination finds wide applications in daily life. Instead of existing efforts devoted to localizing tourist photos captured by perspective cameras, in this article, we focus on devising person positioning solutions using…

Satellite imaging of night light provides a global record of lighted development from 1992 to present. Not all settlements can be detected with night light, but the continuum of built environments where a rapidly growing majority of the…

At large scales, typologies of urban form and corresponding generating processes remain an open question with important implications regarding urban planning policies and sustainability. We propose in this paper to generate urban…

This paper addresses the problem of matching pedestrians across multiple camera views, known as person re-identification. Variations in lighting conditions, environment and pose changes across camera views make re-identification a…

Model training for Device-Free Localization (DFL) and Radio-Frequency (RF) sensing heavily relies on large-scale datasets, which are difficult, expensive, and time-consuming to obtain through measurements. This paper proposes a fast…

Based on approximately 90,000 confirmed dengue cases reported in Recife - a major city in northeastern Brazil - between 2015 and 2024, we conducted a neighborhood-level spatial analysis. Socioeconomic and demographic indicators from the…

The accurate geo-localization of mobile devices based upon received signal strength (RSS) in an urban area is hindered by obstacles in the signal propagation path. Current localization methods have their own advantages and drawbacks.…

Laser scanning (also known as Light Detection And Ranging) has been widely applied in various application. As part of that, aerial laser scanning (ALS) has been used to collect topographic data points for a large area, which triggers to…