In the context of Smart Cities, indicator definitions have been used to calculate values that enable the comparison among different cities. The calculation of an indicator values has challenges as the calculation may need to combine some aspects of quality while addressing different levels of abstraction. Knowledge graphs (KGs) have been used successfully to support flexible representation, which can support improved understanding and data analysis in similar settings. This paper presents an operational description for a city KG, an indicator ontology that support indicator discovery and data visualization and an application capable of performing metadata analysis to automatically build and display dashboards according to discovered indicators. We describe our implementation in an urban mobility setting.
The process of modeling a city is complex. The intrinsic complexity of interactions between city entities make it very difficult to map relevant sets of dynamic aspects that are often used to characterize a city. Moreover, these entity interactions, along with the numerous entities and processes, differ from one city to another. Thus, the process of modeling the city is typically use-case centered, where the modeling is performed towards a specified goal. This approach, hence, streamlines the process, identifying which characteristics need to be modeled. The work in @cite_1 proposes a core conceptual model for the Domain Knowledge Model of a Smart City, which originally involves multiple domains and cities. The proposed work aims to support cross-domain and cross-city interoperability by specifying terms from different stakeholders. Ontologies play a big role in enabling cross-city comparison. The Semantic Web has been used in the Open Government Data (OGD) approach to make it possible for cities to share information and knowledge under a common vocabulary. Pushing this further, the GCI (Global City Indicators) Ontology @cite_7 is an effort for the modeling of city entities that covers the concepts used by global indicators using Semantic Web technologies.
@cite_1 @cite_7
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As the emergence of the requirement of building Smart Cities across many countries, the Domain Knowledge Model of Smart City (Short as DKM4SC) becomes necessary. The Domain Knowledge Model of Smart City has abundant contents and involves many domains and cities. In order to support cross-domain and cross-city interoperation of knowledge, we should concise the common concepts and their relationship from domains and cities and construct a core concept model (short as CCM of DKM4SC) that can specify terms from different stakeholders, support semantic understanding and give standard knowledge expression. The model is proposed to represent the core concept of Smart City for exchanging data, service. A case study is presented to illustrate the usage of the model. Abstract This paper addresses the problem of how city indicators and their supporting data are to be published on the Semantic Web so that automated analysis can be performed. With the publishing of ISO 37120, cities have a standard set of indicators that can be used to compare their performance. The problem is that no standards exist for publishing indicators on the Semantic Web. In this paper we introduce the Global City Indicator Ontology (GCIO). The GCIO addresses five issues: 1) how is meta-data associated with a single indicator value represented? 2) how are indicator definitions represented? 3) how is the data used to derive an indicator value represented? 4) how is indicator theme specific knowledge represented, and 5) how is city specific knowledge represented? The GCIO has been implemented and validated using the City of Toronto ISO 37120 indicators reported for 2013. Research continues in developing ontologies specifically for each of the indicator themes such as: Education, Shelter, Health, Transportation and Innovation. We consider learning representations of entities and relations in KBs using the neural-embedding approach. We show that most existing models, including NTN (, 2013) and TransE (, 2013b), can be generalized under a unified learning framework, where entities are low-dimensional vectors learned from a neural network and relations are bilinear and or linear mapping functions. Under this framework, we compare a variety of embedding models on the link prediction task. We show that a simple bilinear formulation achieves new state-of-the-art results for the task (achieving a top-10 accuracy of 73.2 vs. 54.7 by TransE on Freebase). Furthermore, we introduce a novel approach that utilizes the learned relation embeddings to mine logical rules such as "BornInCity(a,b) and CityInCountry(b,c) => Nationality(a,c)". We find that embeddings learned from the bilinear objective are particularly good at capturing relational semantics and that the composition of relations is characterized by matrix multiplication. More interestingly, we demonstrate that our embedding-based rule extraction approach successfully outperforms a state-of-the-art confidence-based rule mining approach in mining Horn rules that involve compositional reasoning. Abstract: We consider learning representations of entities and relations in KBs using the neural-embedding approach. We show that most existing models, including NTN (, 2013) and TransE (, 2013b), can be generalized under a unified learning framework, where entities are low-dimensional vectors learned from a neural network and relations are bilinear and or linear mapping functions. Under this framework, we compare a variety of embedding models on the link prediction task. We show that a simple bilinear formulation achieves new state-of-the-art results for the task (achieving a top-10 accuracy of 73.2 vs. 54.7 by TransE on Freebase). Furthermore, we introduce a novel approach that utilizes the learned relation embeddings to mine logical rules such as "BornInCity(a,b) and CityInCountry(b,c) => Nationality(a,c)". We find that embeddings learned from the bilinear objective are particularly good at capturing relational semantics and that the composition of relations is characterized by matrix multiplication. More interestingly, we demonstrate that our embedding-based rule extraction approach successfully outperforms a state-of-the-art confidence-based rule mining approach in mining Horn rules that involve compositional reasoning. Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the learned model to real world scenarios. This is mainly due to two reasons: 1) the model overfits to synthetic images, making the convolutional filters incompetent to extract informative representation for real images; 2) there is a distribution difference between synthetic and real data, which is also known as the domain adaptation problem. To this end, we propose a new reality oriented adaptation approach for urban scene semantic segmentation by learning from synthetic data. First, we propose a target guided distillation approach to learn the real image style, which is achieved by training the segmentation model to imitate a pretrained real style model using real images. Second, we further take advantage of the intrinsic spatial structure presented in urban scene images, and propose a spatial-aware adaptation scheme to effectively align the distribution of two domains. These two modules can be readily integrated with existing state-of-the-art semantic segmentation networks to improve their generalizability when adapting from synthetic to real urban scenes. We evaluate the proposed method on Cityscapes dataset by adapting from GTAV and SYNTHIA datasets, where the results demonstrate the effectiveness of our method. In this paper, we make the first attempt to build a framework to simultaneously estimate semantic parts, shape, translation, and orientation of cars from single street view. Our framework contains three major contributions. Firstly, a novel domain adaptation approach based on the class consistency loss is developed to transfer our part segmentation model from the synthesized images to the real images. Secondly, we propose a novel network structure that leverages part-level features from street views and 3D losses for pose and shape estimation. Thirdly, we construct a high quality dataset that contains more than 300 different car models with physical dimensions and part-level annotations based on global and local deformations. We have conducted experiments on both synthesized data and real images. Our results show that the domain adaptation approach can bring 35.5 percentage point performance improvement in terms of mean intersection-over-union score (mIoU) comparing with the baseline network using domain randomization only. Our network for translation and orientation estimation achieves competitive performance on highly complex street views (e.g., 11 cars per image on average). Moreover, our network is able to reconstruct a list of 3D car models with part-level details from street views, which could benefit various applications such as fine-grained car recognition, vehicle re-identification, and traffic simulation. The recent advances in deep neural networks have convincingly demonstrated high capability in learning vision models on large datasets. Nevertheless, collecting expert labeled datasets especially with pixel-level annotations is an extremely expensive process. An appealing alternative is to render synthetic data (e.g., computer games) and generate ground truth automatically. However, simply applying the models learnt on synthetic images may lead to high generalization error on real images due to domain shift. In this paper, we facilitate this issue from the perspectives of both visual appearance-level and representation-level domain adaptation. The former adapts source-domain images to appear as if drawn from the "style" in the target domain and the latter attempts to learn domain-invariant representations. Specifically, we present Fully Convolutional Adaptation Networks (FCAN), a novel deep architecture for semantic segmentation which combines Appearance Adaptation Networks (AAN) and Representation Adaptation Networks (RAN). AAN learns a transformation from one domain to the other in the pixel space and RAN is optimized in an adversarial learning manner to maximally fool the domain discriminator with the learnt source and target representations. Extensive experiments are conducted on the transfer from GTA5 (game videos) to Cityscapes (urban street scenes) on semantic segmentation and our proposal achieves superior results when comparing to state-of-the-art unsupervised adaptation techniques. More remarkably, we obtain a new record: mIoU of 47.5 on BDDS (drive-cam videos) in an unsupervised setting. The recent advances in deep neural networks have convincingly demonstrated high capability in learning vision models on large datasets. Nevertheless, collecting expert labeled datasets especially with pixel-level annotations is an extremely expensive process. An appealing alternative is to render synthetic data (e.g., computer games) and generate ground truth automatically. However, simply applying the models learnt on synthetic images may lead to high generalization error on real images due to domain shift. In this paper, we facilitate this issue from the perspectives of both visual appearance-level and representation-level domain adaptation. The former adapts source-domain images to appear as if drawn from the "style" in the target domain and the latter attempts to learn domain-invariant representations. Specifically, we present Fully Convolutional Adaptation Networks (FCAN), a novel deep architecture for semantic segmentation which combines Appearance Adaptation Networks (AAN) and Representation Adaptation Networks (RAN). AAN learns a transformation from one domain to the other in the pixel space and RAN is optimized in an adversarial learning manner to maximally fool the domain discriminator with the learnt source and target representations. Extensive experiments are conducted on the transfer from GTA5 (game videos) to Cityscapes (urban street scenes) on semantic segmentation and our proposal achieves superior results when comparing to state-of-the-art unsupervised adaptation techniques. More remarkably, we obtain a new record: mIoU of 47.5 on BDDS (drive-cam videos) in an unsupervised setting. With the growing popularity of Internet of Things (IoT) technologies and sensors deployment, more and more cities are leaning towards the initiative of smart cities. Smart city applications are mostly developed with aims to solve domain-specific problems. Hence, lacking the ability to automatically discover and integrate heterogeneous sensor data streams on the fly. To provide a domain-independent platform and take full benefits from semantic technologies, in this paper we present an Automated Complex Event I mplementation System (ACEIS), which serves as a middleware between sensor data streams and smart city applications. ACEIS discovers and integrates IoT streams in urban infrastructures for users' requirements expressed as complex event requests, based on semantic IoT stream descriptions. It also processes complex event patterns on the fly using semantic data streams. After hundreds of years of human settlement, each city has formed a distinct identity, distinguishing itself from other cities. In this work, we propose to characterize the identity of a city via an attribute analysis of 2 million geo-tagged images from 21 cities over 3 continents. First, we estimate the scene attributes of these images and use this representation to build a higher-level set of 7 city attributes, tailored to the form and function of cities. Then, we conduct the city identity recognition experiments on the geo-tagged images and identify images with salient city identity on each city attribute. Based on the misclassification rate of the city identity recognition, we analyze the visual similarity among different cities. Finally, we discuss the potential application of computer vision to urban planning. Geographic information is based on observations or measurements. The Open Geospatial Consortium (OGC) has developed an implementation specification for observations and measurements (O&M). It specifies precisely how to encode information. Yet, the O&M conceptual model does not specify precisely which real-world entities are denoted by the specified information objects. We provide formal semantics for the central O&M terms by aligning them to the foundational ontology DOLCE. The alignment to a foundational ontology restricts the possible interpretations of the central elements in the O&M model and establishes explicit relations between categories of real world entities and classes of information objects. These relations are essential for assessing semantic interoperability between geospatial information sources. We introduce a layer-wise unsupervised domain adaptation approach for semantic segmentation. Instead of merely matching the output distributions of the source and target domains, our approach aligns the distributions of activations of intermediate layers. This scheme exhibits two key advantages. First, matching across intermediate layers introduces more constraints for training the network in the target domain, making the optimization problem better conditioned. Second, the matched activations at each layer provide similar inputs to the next layer for both training and adaptation, and thus alleviate covariate shift. We use a Generative Adversarial Network (or GAN) to align activation distributions. Experimental results show that our approach achieves state-of-the-art results on a variety of popular domain adaptation tasks, including (1) from GTA to Cityscapes for semantic segmentation, (2) from SYNTHIA to Cityscapes for semantic segmentation, and (3) adaptations on USPS and MNIST for image classification (The website of this paper is https: rsents.github.io dam.html). During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is a core task of various emerging industrial applications such as autonomous driving and medical imaging. However, to train CNNs requires a huge amount of data, which is difficult to collect and laborious to annotate. Recent advances in computer graphics make it possible to train CNN models on photo-realistic synthetic data with computer-generated annotations. Despite this, the domain mismatch between the real images and the synthetic data significantly decreases the models’ performance. Hence we propose a curriculum-style learning approach to minimize the domain gap in semantic segmentation. The curriculum domain adaptation solves easy tasks first in order to infer some necessary properties about the target domain; in particular, the first task is to learn global label distributions over images and local distributions over landmark superpixels. These are easy to estimate because images of urban traffic scenes have strong idiosyncrasies (e.g., the size and spatial relations of buildings, streets, cars, etc.). We then train the segmentation network in such a way that the network predictions in the target domain follow those inferred properties. In experiments, our method significantly outperforms the baselines as well as the only known existing approach to the same problem. During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving. However, to train CNNs requires a considerable amount of data, which is difficult to collect and laborious to annotate. Recent advances in computer graphics make it possible to train CNNs on photo-realistic synthetic imagery with computer-generated annotations. Despite this, the domain mismatch between the real images and the synthetic data cripples the models' performance. Hence, we propose a curriculum-style learning approach to minimize the domain gap in urban scenery semantic segmentation. The curriculum domain adaptation solves easy tasks first to infer necessary properties about the target domain; in particular, the first task is to learn global label distributions over images and local distributions over landmark superpixels. These are easy to estimate because images of urban scenes have strong idiosyncrasies (e.g., the size and spatial relations of buildings, streets, cars, etc.). We then train a segmentation network while regularizing its predictions in the target domain to follow those inferred properties. In experiments, our method outperforms the baselines on two datasets and two backbone networks. We also report extensive ablation studies about our approach. We present a method for automatically identifying and validating predictive relationships between the visual appearance of a city and its non-visual attributes (e.g. crime statistics, housing prices, population density etc.). Given a set of street-level images and (location, city-attribute-value) pairs of measurements, we first identify visual elements in the images that are discriminative of the attribute. We then train a predictor by learning a set of weights over these elements using non-linear Support Vector Regression. To perform these operations efficiently, we implement a scalable distributed processing framework that speeds up the main computational bottleneck (extracting visual elements) by an order of magnitude. This speedup allows us to investigate a variety of city attributes across 6 different American cities. We find that indeed there is a predictive relationship between visual elements and a number of city attributes including violent crime rates, theft rates, housing prices, population density, tree presence, graffiti presence, and the perception of danger. We also test human performance for predicting theft based on street-level images and show that our predictor outperforms this baseline with 33 higher accuracy on average. Finally, we present three prototype applications that use our system to (1) define the visual boundary of city neighborhoods, (2) generate walking directions that avoid or seek out exposure to city attributes, and (3) validate user-specified visual elements for prediction. Modeling a city poses a number of problems to computer graphics. Every urban area has a transportation network that follows population and environmental influences, and often a superimposed pattern plan. The buildings appearances follow historical, aesthetic and statutory rules. To create a virtual city, a roadmap has to be designed and a large number of buildings need to be generated. We propose a system using a procedural approach based on L-systems to model cities. From various image maps given as input, such as land-water boundaries and population density, our system generates a system of highways and streets, divides the land into lots, and creates the appropriate geometry for the buildings on the respective allotments. For the creation of a city street map, L-systems have been extended with methods that allow the consideration of global goals and local constraints and reduce the complexity of the production rules. An L-system that generates geometry and a texturing system based on texture elements and procedural methods compose the buildings. In this paper we propose a method to generate a large scale and accurate dense 3D semantic map of street scenes. A dense 3D semantic model of the environment can significantly improve a number of robotic applications such as autonomous driving, navigation or localisation. Instead of using offline trained classifiers for semantic segmentation, our approach employs a data-driven, nonparametric method to parse scenes which easily scale to a large environment and generalise to different scenes. We use stereo image pairs collected from cameras mounted on a moving car to produce dense depth maps which are combined into a global 3D reconstruction using camera poses from stereo visual odometry. Simultaneously, 2D automatic semantic segmentation using a nonparametric scene parsing method is fused into the 3D model. Furthermore, the resultant 3D semantic model is improved with the consideration of moving objects in the scene. We demonstrate our method on the publicly available KITTI dataset and evaluate the performance against manually generated ground truth. Fully convolutional models for dense prediction have proven successful for a wide range of visual tasks. Such models perform well in a supervised setting, but performance can be surprisingly poor under domain shifts that appear mild to a human observer. For example, training on one city and testing on another in a different geographic region and or weather condition may result in significantly degraded performance due to pixel-level distribution shift. In this paper, we introduce the first domain adaptive semantic segmentation method, proposing an unsupervised adversarial approach to pixel prediction problems. Our method consists of both global and category specific adaptation techniques. Global domain alignment is performed using a novel semantic segmentation network with fully convolutional domain adversarial learning. This initially adapted space then enables category specific adaptation through a generalization of constrained weak learning, with explicit transfer of the spatial layout from the source to the target domains. Our approach outperforms baselines across different settings on multiple large-scale datasets, including adapting across various real city environments, different synthetic sub-domains, from simulated to real environments, and on a novel large-scale dash-cam dataset. Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene understanding tasks, its applicability to state estimation tasks has been limited due to the direct formulation that renders it incapable of encoding scene-specific constrains. In this work, we propose the VLocNet++ architecture that employs a multitask learning approach to exploit the inter-task relationship between learning semantics, regressing 6-DoF global pose and odometry, for the mutual benefit of each of these tasks. Our network overcomes the aforementioned limitation by simultaneously embedding geometric and semantic knowledge of the world into the pose regression network. We propose a novel adaptive weighted fusion layer to aggregate motion-specific temporal information and to fuse semantic features into the localization stream based on region activations. Furthermore, we propose a self-supervised warping technique that uses the relative motion to warp intermediate network representations in the segmentation stream for learning consistent semantics. Finally, we introduce a first-of-a-kind urban outdoor localization dataset with pixel-level semantic labels and multiple loops for training deep networks. Extensive experiments on the challenging Microsoft 7-Scenes benchmark and our DeepLoc dataset demonstrate that our approach exceeds the state-of-the-art outperforming local feature-based methods while simultaneously performing multiple tasks and exhibiting substantial robustness in challenging scenarios. d city models are used in a huge number of applications today. They are applicable in the area of urban planning and city development, tourism and marketing and as well for navigation. All these applications need a 3d city model of a large area. And in these days the desire for actuality and a high degree of details is rising. Due to this the modelling of buildings as block models as before is not sufficient any more. There is a need for facade reconstruction methods that model windows and other facade elements in more detail. To acquire the huge demand of models, automatic methods are needed. In this paper we show the importance of the use of structure information for the reconstruction process. With an example we demonstrate the problems of reconstructions methods which work without structure information. Then we present how to use a grammar to integrate structure in the process. Thereafter we present a manual modelling tool which is based on our facade grammar. And finally an automatic facade reconstruction method based on reversible jump Markov Chain Monte Carlo (rjMCMC) is shown.