Obtaining a dynamic population distribution is key to many decision-making processes such as urban planning, disaster management and most importantly helping the government to better allocate socio-technical supply. For the aspiration of these objectives, good population data is essential. The traditional method of collecting population data through the census is expensive and tedious. In recent years, statistical and machine learning methods have been developed to estimate population distribution. Most of the methods use data sets that are either developed on a small scale or not publicly available yet. Thus, the development and evaluation of new methods become challenging. We fill this gap by providing a comprehensive data set for population estimation in 98 European cities. The data set comprises a digital elevation model, local climate zone, land use proportions, nighttime lights in combination with multi-spectral Sentinel-2 imagery, and data from the Open Street Map initiative. We anticipate that it would be a valuable addition to the research community for the development of sophisticated approaches in the field of population estimation.

Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous localization and mapping (SLAM), wherein the robot needs to correctly associate the incoming sensory data to the database allowing consistent map generation. The significant advances in computer vision achieved over the last 20 years, the increased computational power, and the growing demand for long-term exploration contributed to efficiently performing such a complex task with inexpensive perception sensors. In this article, visual loop closure detection, which formulates a solution based solely on appearance input data, is surveyed. We start by briefly introducing place recognition and SLAM concepts in robotics. Then, we describe a loop closure detection system's structure, covering an extensive collection of topics, including the feature extraction, the environment representation, the decision-making step, and the evaluation process. We conclude by discussing open and new research challenges, particularly concerning the robustness in dynamic environments, the computational complexity, and scalability in long-term operations. The article aims to serve as a tutorial and a position paper for newcomers to visual loop closure detection.

COVID-19 has become a matter of serious concern over the last few years. It has adversely affected numerous people around the globe and has led to the loss of billions of dollars of business capital. In this paper, we propose a novel Spatial-Temporal Synchronous Graph Transformer network (STSGT) to capture the complex spatial and temporal dependency of the COVID-19 time series data and forecast the future status of an evolving pandemic. The layers of STSGT combine the graph convolution network (GCN) with the self-attention mechanism of transformers on a synchronous spatial-temporal graph to capture the dynamically changing pattern of the COVID time series. The spatial-temporal synchronous graph simultaneously captures the spatial and temporal dependencies between the vertices of the graph at a given and subsequent time-steps, which helps capture the heterogeneity in the time series and improve the forecasting accuracy. Our extensive experiments on two publicly available real-world COVID-19 time series datasets demonstrate that STSGT significantly outperforms state-of-the-art algorithms that were designed for spatial-temporal forecasting tasks. Specifically, on average over a 12-day horizon, we observe a potential improvement of 12.19% and 3.42% in Mean Absolute Error(MAE) over the next best algorithm while forecasting the daily infected and death cases respectively for the 50 states of US and Washington, D.C. Additionally, STSGT also outperformed others when forecasting the daily infected cases at the state level, e.g., for all the counties in the State of Michigan. The code and models are publicly available at https://github.com/soumbane/STSGT.

In recent geospatial research, the importance of modeling large-scale human mobility data and predicting trajectories is rising, in parallel with progress in text generation using large-scale corpora in natural language processing. Whereas there are already plenty of feasible approaches applicable to geospatial sequence modeling itself, there seems to be room to improve with regard to evaluation, specifically about measuring the similarity between generated and reference trajectories. In this work, we propose a novel similarity measure, GEO-BLEU, which can be especially useful in the context of geospatial sequence modeling and generation. As the name suggests, this work is based on BLEU, one of the most popular measures used in machine translation research, while introducing spatial proximity to the idea of n-gram. We compare this measure with an established baseline, dynamic time warping, applying it to actual generated geospatial sequences. Using crowdsourced annotated data on the similarity between geospatial sequences collected from over 12,000 cases, we quantitatively and qualitatively show the proposed method's superiority.

The key to traffic prediction is to accurately depict the temporal dynamics of traffic flow traveling in a road network, so it is important to model the spatial dependence of the road network. The essence of spatial dependence is to accurately describe how traffic information transmission is affected by other nodes in the road network, and the GNN-based traffic prediction model, as a benchmark for traffic prediction, has become the most common method for the ability to model spatial dependence by transmitting traffic information with the message passing mechanism. However, existing methods model a local and static spatial dependence, which cannot transmit the global-dynamic traffic information (GDTi) required for long-term prediction. The challenge is the difficulty of detecting the precise transmission of GDTi due to the uncertainty of individual transport, especially for long-term transmission. In this paper, we propose a new hypothesis\: GDTi behaves macroscopically as a transmitting causal relationship (TCR) underlying traffic flow, which remains stable under dynamic changing traffic flow. We further propose spatial-temporal Granger causality (STGC) to express TCR, which models global and dynamic spatial dependence. To model global transmission, we model the causal order and causal lag of TCRs global transmission by a spatial-temporal alignment algorithm. To capture dynamic spatial dependence, we approximate the stable TCR underlying dynamic traffic flow by a Granger causality test. The experimental results on three backbone models show that using STGC to model the spatial dependence has better results than the original model for 45 min and 1 h long-term prediction.

Abstract: Shortest paths play an important role in mathematical modeling and image processing. Usually, shortest path problems are formulated on planar graphs that consist of vertices and weighted arcs. In this context, one is interested in finding a path of minimum weight from a start vertex to an end vertex. The concept of minimum-weight surfaces extends shortest paths to 3d. The minimum-weight surface problem is formulated on a cellular complex with weighted facets.

Image-to-text tasks, such as open-ended image captioning and controllable image description, have received extensive attention for decades. Here, we further advance this line of work by presenting Visual Spatial Description (VSD), a new perspective for image-to-text toward spatial semantics. Given an image and two objects inside it, VSD aims to produce one description focusing on the spatial perspective between the two objects. Accordingly, we manually annotate a dataset to facilitate the investigation of the newly-introduced task and build several benchmark encoder-decoder models by using VL-BART and VL-T5 as backbones. In addition, we investigate pipeline and joint end-to-end architectures for incorporating visual spatial relationship classification (VSRC) information into our model. Finally, we conduct experiments on our benchmark dataset to evaluate all our models. Results show that our models are impressive, providing accurate and human-like spatial-oriented text descriptions. Meanwhile, VSRC has great potential for VSD, and the joint end-to-end architecture is the better choice for their integration. We make the dataset and codes public for research purposes.

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use information from these sensors either directly or after some level of symbolic abstraction, and the latter usually partitions the range of observed values to discretize the continuous signal data. Although these representations have been effective in a variety of algorithms with respect to accuracy and task completion, the underlying models are rarely interpretable, which also makes their outputs more difficult to explain to people who request them. Instead of focusing on the possible sensor values that are familiar to a machine, we introduce a qualitative spatial reasoning approach that describes the human posture in terms that are more familiar to people. This paper explores the derivation of our symbolic representation at two levels of detail and its preliminary use as features for interpretable activity recognition.

Strategic Decision-Making is always challenging because it is inherently uncertain, ambiguous, risky, and complex. It is the art of possibility. We develop a systematic taxonomy of decision-making frames that consists of 6 bases, 18 categorical, and 54 frames. We aim to lay out the computational foundation that is possible to capture a comprehensive landscape view of a strategic problem. Compared with traditional models, it covers irrational, non-rational and rational frames c dealing with certainty, uncertainty, complexity, ambiguity, chaos, and ignorance.

Named geographic entities (geo-entities for short) are the building blocks of many geographic datasets. Characterizing geo-entities is integral to various application domains, such as geo-intelligence and map comprehension, while a key challenge is to capture the spatial-varying context of an entity. We hypothesize that we shall know the characteristics of a geo-entity by its surrounding entities, similar to knowing word meanings by their linguistic context. Accordingly, we propose a novel spatial language model, SpaBERT, which provides a general-purpose geo-entity representation based on neighboring entities in geospatial data. SpaBERT extends BERT to capture linearized spatial context, while incorporating a spatial coordinate embedding mechanism to preserve spatial relations of entities in the 2-dimensional space. SpaBERT is pretrained with masked language modeling and masked entity prediction tasks to learn spatial dependencies. We apply SpaBERT to two downstream tasks: geo-entity typing and geo-entity linking. Compared with the existing language models that do not use spatial context, SpaBERT shows significant performance improvement on both tasks. We also analyze the entity representation from SpaBERT in various settings and the effect of spatial coordinate embedding.