Search Results (669)

Accurate and robust spatial perception is fundamental for dynamic 3D city modeling and urban environmental sensing. High-resolution remote sensing data, particularly LiDAR point clouds, are pivotal for these tasks due to their lighting invariance and precise geometric information. However, processing and aligning sequential LiDAR point clouds in complex urban environments presents significant challenges: traditional point-based or feature-matching methods are often sensitive to urban dynamics (e.g., moving vehicles and pedestrians) and struggle to establish reliable correspondences. While deep learning offers solutions, current approaches for point cloud alignment exhibit key limitations: self-supervised losses often neglect inherent alignment uncertainties, and supervised methods require costly pixel-level correspondence annotations. To address these challenges, we propose UnMinkLO-Net, an end-to-end self-supervised LiDAR odometry framework. Our method is as follows: (1) we efficiently encode 3D point cloud structures using voxel-based sparse convolution, and (2) we model inherent alignment uncertainty via covariance matrices, enabling novel self-supervised loss based on uncertainty modeling. Extensive evaluations on the KITTI urban dataset demonstrate UnMinkLO-Net’s effectiveness in achieving highly accurate point cloud registration. Our self-supervised approach, eliminating the need for manual annotations, provides a powerful foundation for processing and analyzing LiDAR data within multi-sensor urban sensing frameworks. Full article

The Latin American and Caribbean (LAC) region faces persistent challenges of inequality, climate change vulnerability, and deteriorating air quality. The Aburrá Valley, where Medellín is located, is a narrow tropical valley with complex topography, strong thermal inversions, and unstable atmospheric conditions, all of which exacerbate the accumulation of pollutants. In Medellín, ${\mathrm{NO}}_2$ concentrations have remained nearly unchanged over the past eight years, consistently approaching critical thresholds, despite the implementation of air quality control strategies. These persistent high concentrations are closely linked to the variability of the atmospheric boundary layer (ABL) and are often intensified by prolonged dry periods. This study focuses on a representative street canyon in Medellín that has undergone recent urban interventions, including the construction of new public spaces and pedestrian areas, without explicitly considering their impact on ${\mathrm{NO}}_x$ dispersion. Using Computational Fluid Dynamics (CFD) simulations, this work evaluates the influence of urban morphology on ${\mathrm{NO}}_x$ accumulation. The results reveal that areas with high Aspect Ratios (AR > 0.65) and dense vegetation exhibit reduced wind speeds at the pedestrian level—up to 40% lower compared to open zones—and higher ${\mathrm{NO}}_2$ concentrations, with maximum simulated values exceeding 50 μg/m³. This study demonstrates that the design of pedestrian corridors in complex urban environments like Medellín can unintentionally create pollutant accumulation zones, underscoring the importance of integrating air quality considerations into urban planning. The findings provide actionable insights for policymakers, emphasizing the need for comprehensive modeling and field validation to ensure healthier urban spaces in cities affected by persistent air quality issues. Full article

This paper reviews the variability of passenger service time (PST) at the platform–train interface (PTI), a critical performance indicator in metro systems shaped by the infrastructure design, affecting passenger behavior and accessibility. Despite its operational importance, PST remains underexplored in relation to crowd management strategies. This review synthesizes findings from empirical and experimental research to clarify the main factors influencing PST and their implications for platform-level interventions. Key contributors to PST variability include door width, gap dimensions, crowd density, and user characteristics such as mobility impairments. Design elements—such as platform edge doors, yellow safety lines, and vertical handrails—affect flow efficiency and spatial dynamics during boarding and alighting. Advanced tracking and simulation tools (e.g., PeTrack and YOLO-based systems) are identified as essential for evaluating pedestrian behavior and supporting Level of Service (LOS) analysis. To complement traditional LOS metrics, the paper introduces Level of Interaction (LOI) and a multidimensional LOS framework that captures spatial conflicts and user interaction zones. Control strategies such as platform signage, seating arrangements, and visual cues are also reviewed, with experimental evidence showing that targeted design interventions can reduce PST by up to 35%. The review highlights a persistent gap between academic knowledge and practical implementation. It calls for greater integration of empirical evidence into policy, infrastructure standards, and operational contracts. Ultimately, it advocates for human-centered, data-informed approaches to PTI planning that enhance efficiency, inclusivity, and resilience in high-demand transit environments. Full article

External Human–Machine Interfaces (eHMIs) enhance pedestrian safety in interactions with autonomous vehicles (AVs) by signaling crossing risk based on time-to-arrival (TTA), categorized as low, medium, or high. This study compared five eHMI configurations (single-level low, medium, high; two-level low-medium, medium-high) against a three-level (low-medium-high) configuration to assess their impact on pedestrians’ crossing decisions, mental workload (MW), and situation awareness (SA) in vehicle platoon scenarios under full and partial eHMI penetration. In a video-based experiment with 24 participants, crossing decisions were evaluated via temporal gap selection, MW via P300 event-related potentials in an auditory oddball task, and SA via the Situation Awareness Rating Technique. The three-level configuration outperformed single-level medium, single-level high, two-level low-medium, and two-level medium-high in gap acceptance, promoting safer decisions by rejecting smaller gaps and accepting larger ones, and exhibited lower MW than the two-level medium-high configuration under partial penetration. No SA differences were observed. Although the three-level configuration was generally appreciated, future research should optimize presentation to mitigate issues from rapid signal changes. Notably, the single-level low configuration showed comparable performance, suggesting a simpler alternative for real-world eHMI deployment. Full article

Street view imagery has become a vital tool for assessing urban street greenery, with the Green View Index (GVI) serving as the predominant metric. However, while GVI effectively quantifies overall greenery, it fails to capture the nuanced, human-scale experience of urban greenery. This study introduces the Front-Facing Green View Index (FFGVI), a metric designed to reflect the perspective of pedestrians traversing urban streets. The FFGVI computation involves three key steps: (1) calculating azimuths for road points, (2) retrieving front-facing street view images, and (3) applying semantic segmentation to identify green pixels in street view imagery. Building on this, this study proposes the Street Canyon Green View Index (SCGVI), a novel approach for identifying boulevards that evoke perceptions of comfort, spaciousness, and aesthetic quality akin to room-like streetscapes. Applying these indices to a case study in Nanjing, China, this study shows that (1) FFGVI exhibited a strong correlation with GVI (R = 0.88), whereas the association between SCGVI and GVI was marginally weaker (R = 0.78). GVI tends to overestimate perceived greenery due to the influence of lateral views dominated by side-facing vegetation; (2) FFGVI provides a more human-centered perspective, mitigating biases introduced by sampling point locations and obstructions such as large vehicles; and (3) SCGVI effectively identifies prominent boulevards that contribute to a positive urban experience. These findings suggest that FFGVI and SCGVI are valuable metrics for informing urban planning, enhancing urban tourism, and supporting greening strategies at the street level. Full article

Path planning and collision avoidance are essential components of an autonomous driving system (ADS), ensuring safe navigation in complex environments shared with other road users. High-quality planning and reliable obstacle avoidance strategies are essential for advancing the SAE autonomy level of autonomous vehicles, which can largely reduce the risk of traffic accidents. In daily driving scenarios, lane changing is a common maneuver used to avoid unexpected obstacles such as parked vehicles or suddenly appearing pedestrians. Notably, lane-changing behavior is also widely regarded as a key evaluation criterion in driver license examinations, highlighting its practical importance in real-world driving. Motivated by this observation, this paper aims to develop an autonomous lane-changing system capable of dynamically avoiding obstacles in multi-lane traffic environments. To achieve this objective, we propose a hierarchical decision-making and control framework in which a Double Deep Q-Network (DDQN) agent operates as the high-level planner to select lane-level maneuvers, while a High-Order Control Lyapunov Function–High-Order Control Barrier Function–based Quadratic Program (HOCLF-HOCBF-QP) serves as the low-level controller to ensure safe and stable trajectory tracking under dynamic constraints. Simulation studies are used to evaluate the planning efficiency and overall collision avoidance performance of the proposed hierarchical control framework. The results demonstrate that the system is capable of autonomously executing appropriate lane-changing maneuvers to avoid multiple obstacles in complex multi-lane traffic environments. In computational cost tests, the low-level controller operates at 100 Hz with an average solve time of 0.66 ms per step, and the high-level policy operates at 5 Hz with an average solve time of 0.60 ms per step. The results demonstrate real-time capability in autonomous driving systems. Full article

The use of LUZs in urban environments is a critical factor for ensuring efficient vehicle mobility in cities. Poor utilisation of these zones can generate negative externalities, such as double parking or illegal occupation of pedestrian crossings or garage doors. The purpose of the study is to provide city governance with a methodology based on the OEE model to evaluate the efficiency of individual zones or sets of zones and to inform decisions that improve their use without disrupting the coexistence with other city users. To validate the methodology, all deliveries made in selected areas of the city of Zaragoza over the course of one month were studied. The results of the study reveal a considerable loss of efficiency and some recommendations are proposed achieve a better use: only 51.44% of deliveries used the LUZs correctly, and the total OEE ratio was just 0.37. This low level of efficiency is due to the incorrect use by delivery drivers, who often use LUZs as parking spaces, and the illegal occupation of the zones by unauthorised private vehicles. Full article

Battery electric vehicles (BEVs) are seeing widespread adoption globally due to technological improvements, lower manufacturing costs, and supportive policies aimed at reducing greenhouse gas emissions. Governments have introduced incentives such as purchase subsidies and investments in charging infrastructure, while automakers continue to broaden their electric vehicle portfolios. Although BEVs show high overall safety performance comparable to internal combustion engine vehicles (ICEVs), they also raise distinct safety challenges that merit policy attention. This review synthesizes the current literature on safety concerns associated with BEVs, with particular attention to fire risks, vehicle weight, low-speed noise levels, and unique driving characteristics. Fire safety remains a significant issue, as lithium-ion battery fires, although less frequent than those in ICEVs, tend to be more severe and difficult to manage. Strategies such as improved thermal management, fire enclosures, and standardized response protocols are essential. BEVs are typically heavier than ICEVs, affecting crash outcomes and braking performance. These risks are especially important for interactions with pedestrians and smaller vehicles. Quiet operation at low speeds can also reduce pedestrian awareness, prompting regulations for vehicle sound alerts. Together, these issues highlight the need for policies that address both emerging safety risks and the evolving nature of BEV technology. Full article

Forest fire detection is vital for ecological conservation and disaster management. Existing visual detection methods exhibit instability in smoke-obscured or illumination-variable environments. Although multimodal fusion has demonstrated potential, effectively resolving inconsistencies in smoke features across diverse modalities remains a significant challenge. This issue stems from the inherent ambiguity between regions characterized by high temperatures in infrared imagery and those with elevated brightness levels in visible-light imaging systems. In this paper, we propose MCDet, an RGB-T forest fire detection framework incorporating target-aware fusion. To alleviate feature cross-modal ambiguity, we design a Multidimensional Representation Collaborative Fusion module (MRCF), which constructs global feature interactions via a state-space model and enhances local detail perception through deformable convolution. Then, a content-guided attention network (CGAN) is introduced to aggregate multidimensional features by dynamic gating mechanism. Building upon this foundation, the integration of WIoU further suppresses vegetation occlusion and illumination interference on a holistic level, thereby reducing the false detection rate. Evaluated on three forest fire datasets and one pedestrian dataset, MCDet achieves a mean detection accuracy of 77.5%, surpassing advanced methods. This performance makes MCDet a practical solution to enhance early warning system reliability. Full article

Heat waves affect the health and quality of life of older adults, particularly in urban environments. However, there is limited understanding of how extreme temperatures influence their mobility. This research aims to understand the pedestrian mobility patterns of older adults during heat waves in Madrid, analyzing environmental and sociodemographic factors that condition such mobility. Geospatial data from the mobile phones of individuals aged 65 and older were analyzed, along with information on population, housing, urban density, green areas, and facilities during July 2022. Multiple linear regression models and Moran’s I spatial autocorrelation were applied. The results indicate that pedestrian mobility among older adults decreased by 7.3% during the hottest hours, with more pronounced reductions in disadvantaged districts and areas with limited access to urban services. The availability of climate shelters and health centers positively influenced mobility, while areas with a lower coverage of urban services experienced greater declines. At the district level, inequalities in the availability of urban infrastructure may exacerbate the vulnerability of older adults to extreme heat. The findings underscore the need for urban policies that promote equity in access to infrastructure and services that mitigate the effects of extreme heat, especially in disadvantaged areas. Full article

High density old districts at the urban fringes of Asian megacities, such as Shenzhen, face significant thermal challenges due to dense building clusters, limited airflow, and heat retention. This study adopts an integrated approach combining Phoenics wind simulation, geographic information system (GIS) modeling, and spatial prototype analysis to assess and optimize the wind and thermal environments in these urban areas. It investigates how spatial configurations, including building density, height distribution, orientation, and green space integration, influence wind flow and thermal comfort. The results demonstrate that optimized spatial arrangements, including reduced building density, height adjustments, and strategic landscape design, improve ventilation and temperature regulation. Comparative analyses of different spatial prototypes reveal that radial configurations effectively channel external winds into the urban core, enhancing internal airflow, whereas rectangular layouts create wind shadows that hinder ventilation. Adjustments to building façades and vertical arrangements further mitigate pedestrian-level heat accumulation. Interventions in public spaces, including green roofs and vertical greening, offer cooling benefits and mitigate urban heat island effects. This study underscores the importance of aligning urban design with natural wind flow and offers a framework for sustainable landscape and architectural strategies in high-density, heat-prone environments. The findings offer valuable insights for urban planners and policymakers seeking sustainable development in similar megacities. Full article

In the field of autonomous driving, cooperative perception through vehicle-to-vehicle communication significantly enhances environmental understanding by leveraging multi-sensor data, including LiDAR, cameras, and radar. However, traditional early or late fusion methods face challenges such as high bandwidth and computational resources, which make it difficult to balance data transmission efficiency with the accuracy of perception of the surrounding environment, especially for the detection of smaller objects such as pedestrians. To address these challenges, this paper proposes a novel cooperative perception framework based on two-stage intermediate-level sensor feature fusion specifically designed for complex traffic scenarios where pedestrians and vehicles coexist. In such scenarios, the model demonstrates superior performance in detecting small objects like pedestrians compared to mainstream perception methods while also improving the cooperative perception accuracy for medium and large objects such as vehicles. Furthermore, to thoroughly validate the reliability of the proposed model, we conducted both qualitative and quantitative experiments on mainstream simulated and real-world datasets. The experimental results demonstrate that our approach outperforms state-of-the-art perception models in terms of mAP, achieving up to a 4.1% improvement in vehicle detection accuracy and a remarkable 29.2% enhancement in pedestrian detection accuracy. Full article

Pedestrian detection is an important research topic in the field of visual cognition and autonomous driving systems. The proposal of the YOLO model has significantly improved the speed and accuracy of detection. To achieve full day detection performance, multimodal YOLO models based on RGB-FIR image pairs have become a research hotspot. Existing work has focused on the design of fusion modules after feature extraction of RGB and FIR branch backbone networks, achieving a multimodal backbone network framework based on back-end fusion. However, these methods overlook the complementarity and prior knowledge between modalities and scales in the front-end raw feature extraction of RGB and FIR branch backbone networks. As a result, the performance of the backend fusion framework largely depends on the representation ability of the raw features of each modality in the front-end. This paper proposes a novel RGB-FIR multimodal backbone network framework based on a cross-modality context attentional model (CCAM). Different from the existing works, a multi-level fusion framework is designed. At the front-end of the RGB-FIR parallel backbone network, the CCAM model is constructed for the raw features of each scale. The RGB-FIR feature fusion results of the lower-level features of the RGB and FIR branch backbone networks are fully utilized to optimize the spatial weight of the upper level RGB and FIR features, to achieve cross-modality and cross-scale complementarity between adjacent scale feature extraction modules. At the back-end of the RGB-FIR parallel network, a channel-space joint attention model (CBAM) and self-attention models are combined to obtain the final RGB-FIR fusion features at each scale for those RGB and FIR features optimized by CCAM. Compared with the current RGB-FIR multimodal YOLO model, comparative experiments on different performance evaluation indicators on multiple RGB-FIR public datasets indicate that this method can significantly enhance the accuracy and robustness of pedestrian detection. Full article

With accelerating urbanization, the outdoor thermal environment has become a critical factor affecting the thermal comfort of public spaces, particularly in high-density commercial districts and pedestrian-concentrated areas. To enhance thermal comfort and livability in public outdoor space, this study proposes a thermal demand-responsive design approach that integrates thermal conditions with pedestrian flow dynamics. A commercial pedestrian mall featuring semi-open public spaces and air-conditioned interior retail areas was selected as a case study. Computational Fluid Dynamics (CFD) simulations were conducted based on design-phase documentation and field measurements to model the thermal environment. The Universal Thermal Climate Index (UTCI) was employed to assess thermal comfort levels, and thermal discomfort was further quantified using the Heat Discomfort Index (HI). Simultaneously, pedestrian density distribution (λ) was analyzed using the agent-based simulation software MassMotion (Version 11.0). A demand of thermal comfort (DTC) index was developed by coupling UTCI-based thermal conditions with pedestrian density, enabling the spatial quantification of thermal demand across the whole commercial pedestrian mall. For example, in a sidewalk area parallel to the main street, several points exhibited high discomfort levels (HI = 0.95) but low pedestrian volume, resulting in DTC values approximately 0.2 units lower than adjacent zones with lower discomfort levels (HI = 0.7) but higher foot traffic. Such differences demonstrate how DTC can reveal priority areas for intervention. Key zones requiring thermal improvement were identified based on DTC values, providing a quantitative foundation for outdoor thermal environment design. This method provides both a theoretical foundation and a practical tool for the sustainable planning and optimization of urban public spaces. Full article

Urban color represents the visual skin of a city, embodying regional culture, historical memory, and the contemporary spirit. However, while the existing studies focus on pedestrian-level facade colors, the “fifth facade” from a bird’s-eye view has been largely overlooked. Moreover, color distortions in traditional remote sensing imagery hinder precise analysis. This study targeted 56 Chinese coastal cities, decoding the spatiotemporal patterns of their fifth facade color (FFC). Through developing an innovative natural color optimization algorithm, the oversaturation and color bias of Sentinel-2 imageries were addressed. Several color indicators, including dominant colors, hue–saturation–value, color richness, and color harmony, were developed to analyze the spatial variations of FFC. Results revealed that FFC in Chinese coastal cities is dominated by gray, black, and brown, reflecting the commonality of cement jungles. Among them, northern warm grays exude solidity, as in Weifang, while southern cool grays convey modern elegance, as in Shenzhen. Blue PVC rooftops (e.g., Tianjin) and red-brick villages (e.g., Quanzhou) serve as symbols of industrial function and cultural heritage. Economically advanced cities (e.g., Shanghai) lead in color richness, linking vitality to visual diversity, while high-harmony cities (e.g., Lianyungang) foster livability through coordinated colors. The study also warns of color pollution risks. Cities like Qingdao exposed planning imbalances through color clashes. This research pioneers a systematic and large-scale decoding of urban fifth facade color from a remote sensing perspective, quantitatively revealing the dilemma of “identical cities” in modernization development. The findings inject color rationality into urban planning and create readable and warm city images. Full article