This paper proposes a voxel-based approach for creating a digital twin of an urban environment that is capable of efficiently managing smart spaces. The paper explains the registration and localization procedure of the point cloud dataset, which uses the KISS ICP for scan point cloud combination and the RANSAC method for the initial alignment of the combined point cloud. The mobile mapping point cloud using Riegl VMX-250 serves as the reference map, and Velodyne scans are used for localization purposes. The point-to-plane iterative closest-point method is then employed to refine the alignment. The paper evaluates the efficacy of the proposed method by calculating the errors between the estimated and ground truth positions. The results indicate that the voxel-based approach is capable of accurately estimating the position of the sensor platform, which are applicable for various use cases. A specific use case in the context is smart parking space management, which is described and initial visualization results are shown.

Transportation systems can be conceptualized as an instrument of spreading people and resources over the territory, playing an important role in developing sustainable cities. The current rationale of transport provision is based on population demand, disregarding land use and socioeconomic information. To meet the challenge to promote a more equitable resource distribution, this work aims at identifying and describing patterns of urban services supply, their accessibility, and household income. By using a multidimensional approach, the spatial inequalities of a large city of the global south reveal that the low-income population has low access mainly to hospitals and cultural centers. A low-income group presents an intermediate level of accessibility to public schools and sports centers, evidencing the diverse condition of citizens in the peripheries. These complex outcomes generated by the interaction of land use and public transportation emphasize the importance of comprehensive methodological approaches to support decisions of urban projects, plans and programs. Reducing spatial inequalities, especially providing services for deprived groups, is fundamental to promote the sustainable use of resources and optimize the daily commuting.