Building large urban environments from unstructured point data

International audienceWe present a robust method for modeling cities from unstructured point data. Our algorithm provides a more complete description than existing approaches by reconstructing simultaneously buildings, trees and topologically complex grounds. Buildings are modeled by an original approach which guarantees a high generalization level while having semantized and compact representations. Geometric 3D-primitives such as planes, cylinders, spheres or cones describe regular roof sections, and are combined with mesh-patches that represent irregular roof components. The various urban components interact through a non-convex energy minimization problem in which they are propagated under arrangement constraints over a planimetric map. We experimentally validate the approach on complex urban structures and large urban scenes of millions of points

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In this work we explore laser-based localization in both urban and natural environments, which is suitable for online applications. We propose a deep learning approach capable of learning meaningful descriptors directly from 3D point clouds by comparing triplets (anchor, positive and negative examples). The approach learns a feature space representation for a set of segmented point clouds that are matched between a current and previous observations. Our learning method is tailored towards loop closure detection resulting in a small model which can be deployed using only a CPU. The proposed learning method would allow the full pipeline to run on robots with limited computational payload such as drones, quadrupeds or UGVs.Comment: Accepted for publication at RA-L/ICRA 2019. More info: https://ori.ox.ac.uk/esm-localizatio

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree trunk positions are registered at a prior run done by a forest harvester. Second, the resulting map is Delaunay triangularized. Third, a local submap of the autonomous robot is registered, triangularized and matched using triangular similarity maximization to estimate the position of the robot. We test our method on a dataset accumulated from a forestry site at Lieksa, Finland. A total length of 2100\,m of harvester path was recorded by an industrial harvester with a 3D laser scanner and a geolocation unit fixed to the frame. Our experiments show a 12\,cm s.t.d. in the location accuracy and with real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and speed limit is realistic during forest operations

FLIAT, an object-relational GIS tool for flood impact assessment in Flanders, Belgium

Floods can cause damage to transportation and energy infrastructure, disrupt the delivery of services, and take a toll on public health, sometimes even causing significant loss of life. Although scientists widely stress the compelling need for resilience against extreme events under a changing climate, tools for dealing with expected hazards lag behind. Not only does the socio-economic, ecologic and cultural impact of floods need to be considered, but the potential disruption of a society with regard to priority adaptation guidelines, measures, and policy recommendations need to be considered as well. The main downfall of current impact assessment tools is the raster approach that cannot effectively handle multiple metadata of vital infrastructures, crucial buildings, and vulnerable land use (among other challenges). We have developed a powerful cross-platform flood impact assessment tool (FLIAT) that uses a vector approach linked to a relational database using open source program languages, which can perform parallel computation. As a result, FLIAT can manage multiple detailed datasets, whereby there is no loss of geometrical information. This paper describes the development of FLIAT and the performance of this tool

Large-eddy simulation for flow and dispersion in urban streets

Large-eddy simulations (LES) with our recently developed inflow approach (Xie &Castro, 2008a) have been used for flow and dispersion within a genuine city area -the DAPPLE site, located at the intersection of Marylebone Rd and Gloucester Plin Central London. Numerical results up to second-order statistics are reported fora computational domain of 1.2km (streamwise) x 0.8km (lateral) x 0.2km (in fullscale), with a resolution down to approximately one meter in space and one secondin time. They are in reasonable agreement with the experimental data. Such a comprehensiveurban geometry is often, as here, composed of staggered, aligned, squarearrays of blocks with non-uniform height and non-uniform base, street canyons andintersections. Both the integrative and local effect of flow and dispersion to thesegeometrical patterns were investigated. For example, it was found that the peaksof spatially averaged urms, vrms, wrms and < u0w0 > occurred neither at the meanheight nor at the maximum height, but at the height of large and tall buildings. Itwas also found that the mean and fluctuating concentrations in the near-source fieldis highly dependent on the source location and the local geometry pattern, whereasin the far field (e.g. >0.1km) they are not. In summary, it is demonstrated thatfull-scale resolution of around one meter is sufficient to yield accurate prediction ofthe flow and mean dispersion characteristics and to provide reasonable estimationof concentration fluctuation