Automated delineation of roof planes from LIDAR data

In this paper, we describe an algorithm for roof line delineation from LIDAR data which aims at achieving models of a high level of detail. Roof planes are initially extracted by segmentation based on the local homogeneity of surface normal vectors of a digital surface model (DSM). A case analysis then reveals which of these roof planes intersect and which of them are separated by a step edge. The positions of the step edges are determined precisely by a new algorithm taking into account domain specific information. Finally, all step edges and intersection lines are combined to form consistent polyhedral models. In all phases of this workflow, decision making is based upon statistical reasoning about geometrical relations between neighbouring entities in order to reduce the number of control parameters and to increase the robustness of the method

Limited Visibility and Uncertainty Aware Motion Planning for Automated Driving

Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion planning. This paper focuses on motion planning given an uncertain environment model with occlusions. We present a method to remain collision free for the worst-case evolution of the given scene. We define criteria that measure the available margins to a collision while considering visibility and interactions, and consequently integrate conditions that apply these criteria into an optimization-based motion planner. We show the generality of our method by validating it in several distinct urban scenarios

Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is computed for the vehicle followed by the computation of optimal forward velocity along it. The very nature of the proposed path velocity decomposition allows for seamless compatibility between the two layers of the optimization. A key feature of the proposed work is that it offloads most of the responsibility of collision avoidance to velocity optimization layer for which computationally efficient formulations can be derived. In particular, we extend our previously developed concept of time scaled collision cone (TSCC) constraints and formulate the forward velocity optimization layer as a convex quadratic programming problem. We perform validation on autonomous driving scenarios wherein proposed MPC repeatedly solves both the optimization layers in receding horizon manner to compute lane change, overtaking and merging maneuvers among multiple dynamic obstacles.Comment: 6 page

Labor Market Impacts of Bolivia's Protected Areas

Protected areas are a powerful policy instrument in the preservation of the ecosystem and global biodiversity -- However, measurable socioeconomic effects such as poverty or labor market effects are still not well understood -- Some recent studies show evidence of heterogenous poverty reduction effects, but there is no compelling evidence on the labor market side despite the fact that poverty is typically battled through structural changes in the labor market -- By employing non-parametric techniques we find evidence that supports that instituting protected areas has positive effects on labor markets -- Despite the indisputable benefits that are obtained by the increased preservation of fauna and flora for the country, there is consistently evidence linking the latter policy decision with a slight reduction in unemployment, and a decrease in informality as well as in jobs in extractive and natural resources industrie

Stability and statistical inferences in the space of topological spatial relationships

Modelling topological properties of the spatial relationship between objects, known as the extit{topological relationship}, represents a fundamental research problem in many domains including Artificial Intelligence (AI) and Geographical Information Science (GIS). Real world data is generally finite and exhibits uncertainty. Therefore, when attempting to model topological relationships from such data it is useful to do so in a manner which is both extit{stable} and facilitates extit{statistical inferences}. Current models of the topological relationships do not exhibit either of these properties. We propose a novel model of topological relationships between objects in the Euclidean plane which encodes topological information regarding connected components and holes. Specifically, a representation of the persistent homology, known as a persistence scale space, is used. This representation forms a Banach space that is stable and, as a consequence of the fact that it obeys the strong law of large numbers and the central limit theorem, facilitates statistical inferences. The utility of this model is demonstrated through a number of experiments