Semantic-spatial relation-based exploration in uncertain environment불확실한 환경에서 의미론적 공간 관계 기반 탐사 방법

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 100
  • Download : 0
DC FieldValueLanguage
dc.contributor.advisorChoi, Han-Lim-
dc.contributor.authorLee, Woo-Cheol-
dc.description학위논문(박사) - 한국과학기술원 : 항공우주공학과, 2022.2,[viii, 100 p. :]-
dc.description.abstractThis paper addresses the problem of target-directed exploration (TDE) in initially unknown and large-scale indoor environments. In such scenarios, the inference on an unknown space can improve the search performance under the assumption that the context of a particular space (i.e., the functional category of the space) is correlated with the existence of a target. The space inference is promising in that there is a strong statistical correlation between the semantic categories of indoor spaces and their adjacency because the spaces are designed to reflect universal human preferences. In this point of view, we propose a novel TDE scheme leveraging the semantic-spatial relations of an indoor floorplan dataset. Whereas existing works dealing with the data-driven space inferences consider only the one-to-one relation statistics of the spaces or utilize heuristic counting-based matching algorithms without building a trainable latent model, we propose the pattern cognitive Multivariate Bernoulli Distribution-based Graphical Space Inference Model (MBD-GSIM). MBD-GSIM efficiently captures the core contexts of the discrete semantic-spatial relations to predict an unknown space by using the latent Multivariate Bernoulli Distribution model. We also suggest utilizing the MBD-GSIM in a cost-utility based frontier exploration scheme for TDE problems. The proposed scheme is constructed in the Robot Operating System (ROS)-
dc.description.abstractits efficiency is investigated in the Gazebo simulation environment.-
dc.titleSemantic-spatial relation-based exploration in uncertain environment-
dc.title.alternative불확실한 환경에서 의미론적 공간 관계 기반 탐사 방법-
dc.description.department한국과학기술원 :항공우주공학과,-
Appears in Collection
Files in This Item
There are no files associated with this item.


  • mendeley


rss_1.0 rss_2.0 atom_1.0