التفاصيل البيبلوغرافية
| العنوان: |
Incorporating Hierarchical Information for UAV based Semantic Mapping |
| المؤلفون: |
Mandel, Nicolas, Milford, Michael, Gonzalez, Luis Felipe |
| المصدر: |
Proceedings of the 2021 IEEE Aerospace Conference |
| بيانات النشر: |
Institute of Electrical and Electronics Engineers Inc. |
| سنة النشر: |
2021 |
| المجموعة: |
Queensland University of Technology: QUT ePrints |
| مصطلحات موضوعية: |
aerospace robotics, UAV Development, semantic navigation, Semantic map |
| الوصف: |
Power, size and weight are major constraining factors for UAVs, which have caused researchers to investigate alternative information representations, such as semantics, to reduce the computational load onboard UAVs. However, the connection between spatial and semantic information has not been fully explored and the literature on including semantic information for UAV navigation is limited. This paper provides a new taxonomy on spatial and semantic relations through consideration of a selected subset of the literature. Concepts of semantic information are related with spatial maps and two hypotheses for improving algorithms based on the literature are generated. The algorithms are tested in numerical simulations on the task of semantic mapping and the effects of influential parameters are examined. Results indicate that a defined hierarchical structure of semantic information enables improved map reproduction. The proposed algorithm exhibits the potential to improve the use of semantic information in UAV deployment scenarios, such as agriculture, search and rescue and industrial inspections. |
| نوع الوثيقة: |
book part |
| وصف الملف: |
application/pdf |
| اللغة: |
unknown |
| Relation: |
https://eprints.qut.edu.au/207337/3/main.pdf; Mandel, Nicolas, Milford, Michael, & Gonzalez, Luis Felipe (2021) Incorporating Hierarchical Information for UAV based Semantic Mapping. In Proceedings of the 2021 IEEE Aerospace Conference. Institute of Electrical and Electronics Engineers Inc., United States of America, pp. 1-11.; https://eprints.qut.edu.au/207337/; Centre for the Environment; Centre for Robotics; Centre for Future Mobility/CARRSQ; Faculty of Science; Faculty of Engineering; School of Electrical Engineering & Robotics; Faculty of Health |
| الاتاحة: |
https://eprints.qut.edu.au/207337/ |
| Rights: |
free_to_read ; http://creativecommons.org/licenses/by-nc/4.0/ ; IEEE ; 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| رقم الانضمام: |
edsbas.7282234A |
| قاعدة البيانات: |
BASE |