相关论文: A Map-matching Algorithm with Extraction of Multi-…
Score matching is a vital tool for learning the distribution of data with applications across many areas including diffusion processes, energy based modelling, and graphical model estimation. Despite all these applications, little work…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
Crowdsourced GPS probe data has been gaining popularity in recent years as a source for real-time traffic information. Efforts have been made to evaluate the quality of such data from different perspectives. A quality indicator of any…
Pairwise comparison data arise in many domains with subjective assessment experiments, for example in image and video quality assessment. In these experiments observers are asked to express a preference between two conditions. However, many…
Precise and long-term stable localization is essential in parking lots for tasks like autonomous driving or autonomous valet parking, \textit{etc}. Existing methods rely on a fixed and memory-inefficient map, which lacks robust data…
Dedicated short-range communication (DSRC) enables vehicular communication using periodic broadcast messages. We propose to use these periodic broadcasts to perform inter-vehicle ranging. Motivated by this scenario, we study the general…
We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
Match-and-copy is a core retrieval primitive used at inference time by large language models to retrieve a matching token from the context then copy its successor. Yet, understanding how this behavior emerges on natural data is challenging…
Estimating a massive drive time matrix between locations is a practical but challenging task. The challenges include availability of reliable road network (including traffic) data, programming expertise, and access to high-performance…
This paper presents a novel system for reconstructing high-resolution GPS trajectory data from truncated or synthetic low-resolution inputs, addressing the critical challenge of balancing data utility with privacy preservation in mobility…
Transportation infrastructure, such as road or railroad networks, represent a fundamental component of our civilization. For sustainable planning and informed decision making, a thorough understanding of the long-term evolution of…
An informative measurement is the most efficient way to gain information about an unknown state. We present a first-principles derivation of a general-purpose dynamic programming algorithm that returns an optimal sequence of informative…
This study evaluates the effectiveness of using Google Maps Location History data to identify joint activities in social networks. To do so, an experiment was conducted where participants were asked to execute daily schedules designed to…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
3D maps are increasingly useful for many applications such as drone navigation, emergency services, and urban planning. However, creating 3D maps and keeping them up-to-date using existing technologies, such as laser scanners, is expensive.…
Constructing and sharing 3D maps is essential for many applications, including autonomous driving and augmented reality. Recently, 3D Gaussian splatting has emerged as a promising approach for accurate 3D reconstruction. However, a…