DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Choi, Han-Lim | - |
dc.contributor.advisor | 최한림 | - |
dc.contributor.author | Lee, Woo-Cheol | - |
dc.date.accessioned | 2023-06-23T19:35:08Z | - |
dc.date.available | 2023-06-23T19:35:08Z | - |
dc.date.issued | 2022 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=996313&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/309352 | - |
dc.description | 학위논문(박사) - 한국과학기술원 : 항공우주공학과, 2022.2,[viii, 100 p. :] | - |
dc.description.abstract | This 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.abstract | its efficiency is investigated in the Gazebo simulation environment. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.title | Semantic-spatial relation-based exploration in uncertain environment | - |
dc.title.alternative | 불확실한 환경에서 의미론적 공간 관계 기반 탐사 방법 | - |
dc.type | Thesis(Ph.D) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :항공우주공학과, | - |
dc.contributor.alternativeauthor | 이우철 | - |
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