Despite the growing availability of 3D urban datasets, extracting insights remains challenging due to computational bottlenecks and the complexity of interacting with data. In fact, the intricate geometry of 3D urban environments results in high degrees of occlusion and requires extensive manual viewpoint adjustments that make large-scale exploration inefficient. To address this, we propose a view-based approach for 3D data exploration, where a vector field encodes views from the environment. To support this approach, we introduce a neural field-based method that constructs an efficient implicit representation of 3D environments. This representation enables both faster direct queries, which consist of the computation of view assessment indices, and inverse queries, which help avoid occlusion and facilitate the search for views that match desired data patterns. Our approach supports key urban analysis tasks such as visibility assessments, solar exposure evaluation, and assessing the visual impact of new developments. We validate our method through quantitative experiments, case studies informed by real-world urban challenges, and feedback from domain experts. Results show its effectiveness in finding desirable viewpoints, analyzing building facade visibility, and evaluating views from outdoor spaces.

Designing and building visual analytics (VA) systems is a complex, iterative process that requires the seamless integration of data processing, analytics capabilities, and visualization techniques. While prior research has extensively examined the social and collaborative aspects of VA system authoring, the practical challenges of developing these systems remain underexplored. As a result, despite the growing number of VA systems, there are only a few structured knowledge bases to guide their design and development. To tackle this gap, we propose VA-Blueprint, a methodology and knowledge base that systematically reviews and categorizes the fundamental building blocks of urban VA systems, a domain particularly rich and representative due to its intricate data and unique problem sets. Applying this methodology to an initial set of 20 systems, we identify and organize their core components into a multi-level structure, forming an initial knowledge base with a structured blueprint for VA system development. To scale this effort, we leverage a large language model to automate the extraction of these components for other 81 papers (completing a corpus of 101 papers), assessing its effectiveness in scaling knowledge base construction. We evaluate our method through interviews with experts and a quantitative analysis of annotation metrics. Our contributions provide a deeper understanding of VA systems' composition and establish a practical foundation to support more structured, reproducible, and efficient system development. VA-Blueprint is available at urbantk.org/va-blueprint.

With the growing availability of urban data and the increasing complexity of societal challenges, visual analytics has become essential for deriving insights into pressing real-world problems. However, analyzing such data is inherently complex and iterative, requiring expertise across multiple domains. The need to manage diverse datasets, distill intricate workflows, and integrate various analytical methods presents a high barrier to entry, especially for researchers and urban experts who lack proficiency in data management, machine learning, and visualization. Advancements in large language models offer a promising solution to lower the barriers to the construction of analytics systems by enabling users to specify intent rather than define precise computational operations. However, this shift from explicit operations to intent-based interaction introduces challenges in ensuring alignment throughout the design and development process. Without proper mechanisms, gaps can emerge between user intent, system behavior, and analytical outcomes. To address these challenges, we propose Urbanite, a framework for human-AI collaboration in urban visual analytics. Urbanite leverages a dataflow-based model that allows users to specify intent at multiple scopes, enabling interactive alignment across the specification, process, and evaluation stages of urban analytics. Based on findings from a survey to uncover challenges, Urbanite incorporates features to facilitate explainability, multi-resolution definition of tasks across dataflows, nodes, and parameters, while supporting the provenance of interactions. We demonstrate Urbanite's effectiveness through usage scenarios created in collaboration with urban experts. Urbanite is available at urbantk.org/urbanite.

The visualization of temporal data on urban buildings, such as shadows, noise, and solar potential, plays a critical role in the analysis of dynamic urban phenomena. However, in dense and geographically constrained 3D urban environments, visual representations of time-varying building data often suffer from occlusion and visual clutter. To address these two challenges, we introduce an immersive lens visualization that integrates i) a view-dependent cutaway de-occlusion technique and ii) a temporal display derived from a conformal mapping algorithm. The mapping process first partitions irregular building footprints into smaller, sufficiently regular subregions that serve as structural primitives. These subregions are then seamlessly recombined to form a conformal, layered layout for our temporal lens visualization. The view-responsive cutaway is inspired by traditional architectural illustrations, preserving the overall layout of the building and its surroundings to maintain users' sense of spatial orientation. This lens design enables the occlusion-free embedding of shape-adaptive temporal displays across building facades on demand, supporting rapid time-space association for the discovery, access and interpretation of spatiotemporal urban patterns. Guided by domain and design goals, we outline the rationale behind the lens visual and interaction design choices, such as the encoding of time progression and temporal values in the conforming lens image. A controlled user study compares our approach against conventional juxtaposition and x-ray spatiotemporal designs. Results validate the usage and utility of our lens, showing that it improves task accuracy and completion time, reduces navigation effort, and increases user confidence. From these findings, we distill design recommendations and promising directions for future research on spatially-embedded lenses in 3D visualization, urban analytics, and related domains.

The visualization and analysis of street and pedestrian networks are important to various domain experts, including urban planners, climate researchers, and health experts. This has led to the development of new techniques for street and pedestrian network visualization, expanding possibilities for effective data presentation and interpretation. Despite their increasing adoption, there is no established design framework to guide the creation of these visualizations while addressing the diverse requirements of various domains. When exploring a feature of interest, domain experts often need to transform, integrate, and visualize a combination of thematic data (e.g., demographic, socioeconomic, pollution) and physical data (e.g., zip codes, street networks), often spanning multiple spatial and temporal scales. This not only complicates the process of visual data exploration and system implementation for developers but also creates significant entry barriers for experts who lack a background in programming. With this in mind, in this paper, we reviewed 45 studies utilizing street-overlaid visualizations to understand how they are applied in practice. Through qualitative coding of these visualizations, we analyzed three key aspects of street and pedestrian network visualization usage: their analytical purposes, the visualization approaches employed, and the data sources used in their creation. Building on this design space, we introduce StreetWeave, a declarative grammar for designing custom visualizations of multivariate spatial network data across multiple resolutions. We demonstrate how StreetWeave can be used to create various street-overlaid visualizations, enabling effective exploration and analysis of spatial data. StreetWeave is available at urbantk.org/streetweave.

Sunlight and shadow play critical roles in how urban spaces are utilized, thrive, and grow. While access to sunlight is essential to the success of urban environments, shadows can provide shaded places to stay during the hot seasons, mitigate heat island effect, and increase pedestrian comfort levels. Properly quantifying sunlight access and shadows in large urban environments is key in tackling some of the important challenges facing cities today. In this paper, we propose Deep Umbra, a novel computational framework that enables the quantification of sunlight access and shadows at a global scale. Our framework is based on a conditional generative adversarial network that considers the physical form of cities to compute high-resolution spatial information of accumulated sunlight access for the different seasons of the year. We use data from seven different cities to train our model, and show, through an extensive set of experiments, its low overall RMSE (below 0.1) as well as its extensibility to cities that were not part of the training set. Additionally, we contribute a set of case studies and a comprehensive dataset with sunlight access information for more than 100 cities across six continents of the world. Deep Umbra is available athttp://urbantk.org/shadows.

Over the past decade, several urban visual analytics systems and tools have been proposed to tackle a host of challenges faced by cities, in areas as diverse as transportation, weather, and real estate. Many of these tools have been designed through collaborations with urban experts, aiming to distill intricate urban analysis workflows into interactive visualizations and interfaces. However, the design, implementation, and practical use of these tools still rely on siloed approaches, resulting in bespoke systems that are difficult to reproduce and extend. At the design level, these tools undervalue rich data workflows from urban experts, typically treating them only as data providers and evaluators. At the implementation level, they lack interoperability with other technical frameworks. At the practical use level, they tend to be narrowly focused on specific fields, inadvertently creating barriers to cross-domain collaboration. To address these gaps, we present Curio, a framework for collaborative urban visual analytics. Curio uses a dataflow model with multiple abstraction levels (code, grammar, GUI elements) to facilitate collaboration across the design and implementation of visual analytics components. The framework allows experts to intertwine data preprocessing, management, and visualization stages while tracking the provenance of code and visualizations. In collaboration with urban experts, we evaluate Curio through a diverse set of usage scenarios targeting urban accessibility, urban microclimate, and sunlight access. These scenarios use different types of data and domain methodologies to illustrate Curio's flexibility in tackling pressing societal challenges. Curio is available at urbantk.org/curio.

Gait disorders are commonly observed in older adults, who frequently experience various issues related to walking. Additionally, researchers and clinicians extensively investigate mobility related to gait in typically and atypically developing children, athletes, and individuals with orthopedic and neurological disorders. Effective gait analysis enables the understanding of the causal mechanisms of mobility and balance control of patients, the development of tailored treatment plans to improve mobility, the reduction of fall risk, and the tracking of rehabilitation progress. However, analyzing gait data is a complex task due to the multivariate nature of the data, the large volume of information to be interpreted, and the technical skills required. Existing tools for gait analysis are often limited to specific patient groups (e.g., cerebral palsy), only handle a specific subset of tasks in the entire workflow, and are not openly accessible. To address these shortcomings, we conducted a requirements assessment with gait practitioners (e.g., researchers, clinicians) via surveys and identified key components of the workflow, including (1) data processing and (2) data analysis and visualization. Based on the findings, we designed VIGMA, an open-access visual analytics framework integrated with computational notebooks and a Python library, to meet the identified requirements. Notably, the framework supports analytical capabilities for assessing disease progression and for comparing multiple patient groups. We validated the framework through usage scenarios with experts specializing in gait and mobility rehabilitation.

We have entered a new era of computing—one where AI permeates every aspect of society from education to healthcare. In this workshop, we examine the emerging role of AI in the design of equitable and accessible cities, transportation systems, and interactive tools for mapping and navigation. We will solicit short papers around key Urban AI + disability themes, including autonomous vehicles, intelligent wheelchairs, assistive human-robotic interaction, assessing and navigating pedestrian pathways, indoor accessibility, and overarching challenges related to ethics, bias, and data privacy and security. We invite both traditional HCI and accessibility researchers as well as scholars and practitioners from other disciplines relevant to this workshop, including disability studies, gerontology, social work, community psychology, and law. Our overarching goal is to identify open challenges, share current work across disciplines, and spur new collaborations related to AI and urban accessibility.

Over the past decade, there has been a significant increase in the development of visual analytics systems dedicated to addressing urban issues. These systems distill intricate urban analysis workflows into intuitive, interactive visual representations and interfaces, enabling users to explore, understand, and derive insights from large and complex data, including street-level imagery, street networks, and building geometries. Developing urban visual analytics systems, however, is a challenging endeavor that requires considerable programming expertise and interaction between various multidisciplinary stakeholders. This situation often leads to monolithic and isolated prototypes that are hard to reproduce, combine, or extend. Concurrently, there has been an increase in the availability of general and urban-specific toolkits, frameworks, and authoring tools that are open source and abstract away the need to implement low-level visual analytics functionalities. This paper provides a hierarchical taxonomy of urban visual analytics systems to contextualize how they are usually designed, implemented, and evaluated. We develop this taxonomy across three distinct levels (i.e., dimensions, categories, and tags), juxtaposing visualization with analytics, data, and system dimensions. We then assess the extent to which current open-source toolkits, frameworks, and authoring tools can effectively support the development of components tailored to urban visual analytics, identifying their strengths and limitations in addressing the unique challenges posed by urban data. In doing so, we offer a roadmap that can guide the effective employment of existing resources and chart a pathway for developing and refining future systems.

Abstract Urbanization has amplified the importance of three‐dimensional structures in urban environments for a wide range of phenomena that are of significant interest to diverse stakeholders. With the growing availability of 3D urban data, numerous studies have focused on developing visual analysis techniques tailored to the unique characteristics of urban environments. However, incorporating the third dimension into visual analytics introduces additional challenges in designing effective visual tools to tackle urban data's diverse complexities. In this paper, we present a survey on visual analytics of 3D urban data. Our work characterizes published works along three main dimensions (why, what, andhow), considering use cases, analysis tasks, data, visualizations, and interactions. We provide a fine‐grained categorization of published works from visualization journals and conferences, as well as from a myriad of urban domains, including urban planning, architecture, and engineering. By incorporating perspectives from both urban and visualization experts, we identify literature gaps, motivate visualization researchers to understand challenges and opportunities, and indicate future research directions.

While cities around the world are looking for smart ways to use new advances in data collection, management, and analysis to address their problems, the complex nature of urban issues and the overwhelming amount of available data have posed significant challenges in translating these efforts into actionable insights. In the past few years, urban visual analytics tools have significantly helped tackle these challenges. When analyzing a feature of interest, an urban expert must transform, integrate, and visualize different thematic (e.g., sunlight access, demographic) and physical (e.g., buildings, street networks) data layers, oftentimes across multiple spatial and temporal scales. However, integrating and analyzing these layers require expertise in different fields, increasing development time and effort. This makes the entire visual data exploration and system implementation difficult for programmers and also sets a high entry barrier for urban experts outside of computer science. With this in mind, in this paper, we present the Urban Toolkit (UTK), a flexible and extensible visualization framework that enables the easy authoring of web-based visualizations through a new high-level grammar specifically built with common urban use cases in mind. In order to facilitate the integration and visualization of different urban data, we also propose the concept of knots to merge thematic and physical urban layers. We evaluate our approach through use cases and a series of interviews with experts and practitioners from different domains, including urban accessibility, urban planning, architecture, and climate science. UTK is available at urbantk.org.

Weather forecasting is essential for decision-making and is usually performed using numerical modeling. Numerical weather models, in turn, are complex tools that require specialized training and laborious setup and are challenging even for weather experts. Moreover, weather simulations are data-intensive computations and may take hours to days to complete. When the simulation is finished, the experts face challenges analyzing its outputs, a large mass of spatiotemporal and multivariate data. From the simulation setup to the analysis of results, working with weather simulations involves several manual and error-prone steps. The complexity of the problem increases exponentially when the experts must deal with ensembles of simulations, a frequent task in their daily duties. To tackle these challenges, we propose ProWis: an interactive and provenance-oriented system to help weather experts build, manage, and analyze simulation ensembles at runtime. Our system follows a human-in-the-loop approach to enable the exploration of multiple atmospheric variables and weather scenarios. ProWis was built in close collaboration with weather experts, and we demonstrate its effectiveness by presenting two case studies of rainfall events in Brazil.

The COVID-19 pandemic had an unprecedented effect in human activity and city landscapes. A very notorious transformation during this period was the change in noise levels and patterns across cities. Small scale studies have show this change in noise levels across different locations in the globe. In this work, we extend these studies by using historical audio data from the SONYC sensor network deployed in New York City. We exploit machine listening models to understand not only noise levels but also patterns, by performing a sound source presence analysis. Finally, we contrast our finding from the acoustic data with noise complaints to better understand the relationship between noise and our perception of it.

Recent technological innovations have led to an increase in the availability of 3D urban data, such as shadow, noise, solar potential, and earthquake simulations. These spatiotemporal datasets create opportunities for new visualizations to engage experts from different domains to study the dynamic behavior of urban spaces in this under explored dimension. However, designing 3D spatiotemporal urban visualizations is challenging, as it requires visual strategies to support analysis of time-varying data referent to the city geometry. Although different visual strategies have been used in 3D urban visual analytics, the question of how effective these visual designs are at supporting spatiotemporal analysis on building surfaces remains open. To investigate this, in this paper we first contribute a series of analytical tasks elicited after interviews with practitioners from three urban domains. We also contribute a quantitative user study comparing the effectiveness of four representative visual designs used to visualize 3D spatiotemporal urban data: spatial juxtaposition, temporal juxtaposition, linked view, and embedded view. Participants performed a series of tasks that required them to identify extreme values on building surfaces over time. Tasks varied in granularity for both space and time dimensions. Our results demonstrate that participants were more accurate using plot-based visualizations (linked view, embedded view) but faster using color-coded visualizations (spatial juxtaposition, temporal juxtaposition). Our results also show that, with increasing task complexity, plot-based visualizations perform better in preserving efficiency (time, accuracy) compared to color-coded visualizations. Based on our findings, we present a set of takeaways with design recommendations for 3D spatiotemporal urban visualizations for researchers and practitioners. Lastly, we report on a series of interviews with four practitioners, and their feedback and suggestions for further work on the visualizations to support 3D spatiotemporal urban data analysis.

The annual incidence of head and neck cancers (HNC) worldwide is more than 550,000 cases, with around 300,000 deaths each year. However, the incidence rates and disease-characteristics of HNC differ between treatment centers and different populations, due to undetermined reasons, which may or not include socioeconomic factors. The multi-faceted and multi-variate nature of the data in the context of the emerging field of health disparities research makes automated analysis impractical. Hence, we present a visual analysis approach to explore the health disparities in the data of HNC patients from two different cohorts at two cancer care centers. Our approach integrates data from multiple sources, including census data and city data, with custom visual encodings and with a nearest neighbor approach. Our design, created in collaboration with oncology experts, makes it possible to analyze the patients' demographic, disease characteristics, treatments and outcomes, and to make significant comparisons of these two cohorts and of individual patients. We evaluate this approach through two case studies performed with domain experts. The results demonstrate that this visual analysis approach successfully accomplishes the goal of comparing two cohorts in terms of different significant factors, and can provide insights into the main source of health disparities between the two centers.

Inaccessible urban infrastructure creates and reinforces systemic exclusion of people with disabilities and impacts public health, physical activity, and quality of life for all. To improve the design of our cities and to enable more equitable policies and location-centric technology designs, we need new data collection techniques, data standards, and accessibility-infused analytic tools and interactive maps focused on the quality, safety, and accessibility of pathways, transit ecosystems, and buildings. In this workshop, we bring together leading experts in human mobility, urban design, disability, and accessible computing to discuss pressing urban access challenges across the world and brainstorm solutions. We invite contributions from practitioners, transit officials, disability advocates, and researchers.

Abstract Noise is one of the primary quality‐of‐life issues in urban environments. In addition to annoyance, noise negatively impacts public health and educational performance. While low‐cost sensors can be deployed to monitor ambient noise levels at high temporal resolutions, the amount of data they produce and the complexity of these data pose significant analytical challenges. One way to address these challenges is through machine listening techniques, which are used to extract features in attempts to classify the source of noise and understand temporal patterns of a city's noise situation. However, the overwhelming number of noise sources in the urban environment and the scarcity of labeled data makes it nearly impossible to create classification models with large enough vocabularies that capture the true dynamism of urban soundscapes. In this paper, we first identify a set of requirements in the yet unexplored domain of urban soundscape exploration. To satisfy the requirements and tackle the identified challenges, we propose Urban Rhapsody, a framework that combines state‐of‐the‐art audio representation, machine learning and visual analytics to allow users to interactively create classification models, understand noise patterns of a city, and quickly retrieve and label audio excerpts in order to create a large high‐precision annotated database of urban sound recordings. We demonstrate the tool's utility through case studies performed by domain experts using data generated over the five‐year deployment of a one‐of‐a‐kind sensor network in New York City.

Exploring large virtual environments, such as cities, is a central task in several domains, such as gaming and urban planning. VR systems can greatly help this task by providing an immersive experience; however, a common issue with viewing and navigating a city in the traditional sense is that users can either obtain a local or a global view, but not both at the same time, requiring them to continuously switch between perspectives, losing context and distracting them from their analysis. In this article, our goal is to allow users to navigate to points of interest without changing perspectives. To accomplish this, we design an intuitive navigation interface that takes advantage of the strong sense of spatial presence provided by VR. We supplement this interface with a perspective that warps the environment, called UrbanRama, based on a cylindrical projection, providing a mix of local and global views. The design of this interface was performed as an iterative process in collaboration with architects and urban planners. We conducted a qualitative and a quantitative pilot user study to evaluate UrbanRama and the results indicate the effectiveness of our system in reducing perspective changes, while ensuring that the warping doesn't affect distance and orientation perception.

Predicting commuting flows based on infrastructure and land-use information is critical for urban planning and public policy development. However, it is a challenging task given the complex patterns of commuting flows. Conventional models, such as gravity model, are mainly derived from physics principles and limited by their predictive power in real-world scenarios where many factors need to be considered. Meanwhile, most existing machine learning-based methods ignore the spatial correlations and fail to model the influence of nearby regions. To address these issues, we propose Geo-contextual Multitask Embedding Learner (GMEL), a model that captures the spatial correlations from geographic contextual information for commuting flow prediction. Specifically, we first construct a geo-adjacency network containing the geographic contextual information. Then, an attention mechanism is proposed based on the framework of graph attention network (GAT) to capture the spatial correlations and encode geographic contextual information to embedding space. Two separate GATs are used to model supply and demand characteristics. To enhance the effectiveness of the embedding representation, a multitask learning framework is used to introduce stronger restrictions, forcing the embeddings to encapsulate effective representation for flow prediction. Finally, a gradient boosting machine is trained based on the learned embeddings to predict commuting flows. We evaluate our model using real-world dataset from New York City and the experimental results demonstrate the effectiveness of our proposed method against the state of the art.

Urban planning is increasingly data driven, yet the challenge of designing with data at a city scale and remaining sensitive to the impact at a human scale is as important today as it was for Jane Jacobs. We address this challenge with Urban Mosaic, a tool for exploring the urban fabric through a spatially and temporally dense data set of 7.7 million street-level images from New York City, captured over the period of a year. Working in collaboration with professional practitioners, we use Urban Mosaic to investigate questions of accessibility and mobility, and preservation and retrofitting. In doing so, we demonstrate how tools such as this might provide a bridge between the city and the street, by supporting activities such as visual comparison of geographically distant neighborhoods, and temporal analysis of unfolding urban development.

Large scale shadows from buildings in a city play an important role in determining the environmental quality of public spaces. They can be both beneficial, such as for pedestrians during summer, and detrimental, by impacting vegetation and by blocking direct sunlight. Determining the effects of shadows requires the accumulation of shadows over time across different periods in a year. In this paper, we propose a simple yet efficient class of approach that uses the properties of sun movement to track the changing position of shadows within a fixed time interval. We use this approach to extend two commonly used shadow techniques, shadow maps and ray tracing, and demonstrate the efficiency of our approach. Our technique is used to develop an interactive visual analysis system, Shadow Profiler, targeted at city planners and architects that allows them to test the impact of shadows for different development scenarios. We validate the usefulness of this system through case studies set in Manhattan, a dense borough of New York City.

The recent explosion in the number and size of spatio-temporal data sets from urban environments and social sensors creates new opportunities for data-driven approaches to understand and improve cities. Visual analytics systems like Urbane aim to empower domain experts to explore multiple data sets, at different time and space resolutions. Since these systems rely on computationally-intensive spatial aggregation queries that slice and summarize the data over different regions, an important challenge is how to attain interactivity. While traditional pre-aggregation approaches support interactive exploration, they are unsuitable in this setting because they do not support ad-hoc query constraints or polygons of arbitrary shapes. To address this limitation, we have recently proposed Raster Join, an approach that converts a spatial aggregation query into a set of drawing operations on a canvas and leverages the rendering pipeline of the graphics hardware (GPU). By doing so, Raster Join evaluates queries on the fly at interactive speeds on commodity laptops and desktops. In this demonstration, we showcase the efficiency of Raster Join by integrating it with Urbane and enabling interactivity. Demo visitors will interact with Urbane to filter and visualize several urban data sets over multiple resolutions.

Abstract Advances in technology coupled with the availability of low‐cost sensors have resulted in the continuous generation of large time series from several sources. In order to visually explore and compare these time series at different scales, analysts need to execute online analytical processing (OLAP) queries that include constraints and group‐by's at multiple temporal hierarchies. Effective visual analysis requires these queries to be interactive. However, while existing OLAP cube‐based structures can support interactive query rates, the exponential memory requirement to materialize the data cube is often unsuitable for large data sets. Moreover, none of the recent space‐efficient cube data structures allow for updates. Thus, the cube must be re‐computed whenever there is new data, making them impractical in a streaming scenario. We propose Time Lattice, a memory‐efficient data structure that makes use of the implicit temporal hierarchy to enable interactive OLAP queries over large time series. Time Lattice is a subset of a fully materialized cube and is designed to handle fast updates and streaming data. We perform an experimental evaluation which shows that the space efficiency of the data structure does not hamper its performance when compared to the state of the art. In collaboration with signal processing and acoustics research scientists, we use the Time Lattice data structure to design the Noise Profiler, a web‐based visualization framework that supports the analysis of noise from cities. We demonstrate the utility of Noise Profiler through a set of case studies.

From economics to sports to entertainment and social media, ranking objects according to some notion of importance is a fundamental tool we humans use all the time to better understand our world. With the ever-increasing amount of user-generated content found online, "what's trending" is now a commonplace phrase that tries to capture the zeitgeist of the world by ranking the most popular microblogging hashtags in a given region and time. However, before we can understand what these rankings tell us about the world, we need to be able to more easily create and explore them, given the significant scale of today's data. In this paper, we describe the computational challenges in building a real-time visual exploratory tool for finding top-ranked objects; build on the recent work involving in-memory and rank-aware data cubes to propose TOPKUBE: a data structure that answers top-k queries up to one order of magnitude faster than the previous state of the art; demonstrate the usefulness of our methods using a set of real-world, publicly available datasets; and provide a new set of benchmarks for other researchers to validate their methods and compare to our own.

Cities are inherently dynamic. Interesting patterns of behavior typically manifest at several key areas of a city over multiple temporal resolutions. Studying these patterns can greatly help a variety of experts ranging from city planners and architects to human behavioral experts. Recent technological innovations have enabled the collection of enormous amounts of data that can help in these studies. However, techniques using these data sets typically focus on understanding the data in the context of the city, thus failing to capture the dynamic aspects of the city. The goal of this work is to instead understand the city in the context of multiple urban data sets. To do so, we define the concept of an "urban pulse" which captures the spatio-temporal activity in a city across multiple temporal resolutions. The prominent pulses in a city are obtained using the topology of the data sets, and are characterized as a set of beats. The beats are then used to analyze and compare different pulses. We also design a visual exploration framework that allows users to explore the pulses within and across multiple cities under different conditions. Finally, we present three case studies carried out by experts from two different domains that demonstrate the utility of our framework.