相关论文: Determining Accessible Sidewalk Width by Extractin…

Ever since the prevalent use of the LiDARs in autonomous driving, tremendous improvements have been made to the learning on the point clouds. However, recent progress largely focuses on detecting objects in a single 360-degree sweep,…

Understanding the complex behavior of pedestrians walking in crowds is a challenge for both science and technology. In particular, obtaining reliable models for crowd dynamics, capable of exhibiting qualitatively and quantitatively the…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Pavement cracks is one of the most important reasons that affects the road capacity. Nowadays, China has the longest highway mileage in the world, thus using traditional manual methods to detect pavement cracks is both time and labor…

Point clouds arising from structured data, mainly as a result of CT scans, provides special properties on the distribution of points and the distances between those. Yet often, the amount of data provided can not compare to unstructured…

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

Several natural and artificial structures and systems are somehow optimized for performing specific functionalities. The structure and topology of cities is no exception, as it is critically important to ensure effective access to the…

Cities worldwide are trying to increase the modal share of bicycle traffic to address traffic and carbon emission problems. Aside from safety, a key factor for this is the cycling comfort, including the surface quality of cycle paths. In…

Disparity in spatial accessibility is strongly associated with growing inequalities among urban communities. Since improving levels of accessibility for certain communities can provide them with upward social mobility and address social…

Predicting the behavior of road users, particularly pedestrians, is vital for safe motion planning in the context of autonomous driving systems. Traditionally, pedestrian behavior prediction has been realized in terms of forecasting future…

Video-based gait recognition has achieved impressive results in constrained scenarios. However, visual cameras neglect human 3D structure information, which limits the feasibility of gait recognition in the 3D wild world. Instead of…

We consider point clouds obtained as random samples of a measure on a Euclidean domain. A graph representing the point cloud is obtained by assigning weights to edges based on the distance between the points they connect. Our goal is to…

Public dashboards are now a common way for US government agencies to share high stakes information with residents. We audited six live systems at federal, state, and city levels: CDC respiratory illness, HUD homelessness PIT and HIC,…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians' future trajectories in these same environments. Traditional model-based prediction…

Three-dimensional urban reconstruction of buildings from single-view images has attracted significant attention over the past two decades. However, recent methods primarily focus on rooftops from aerial images, often overlooking essential…

This paper introduces five new density and accuracy metrics for aerial point clouds that address the complexity and objectives of modern, dense laser scans of urban scenes. The five metrics describe (1) vertical surface density (points per…