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

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dc.contributor.advisorChoi, Han-Lim-
dc.contributor.advisor최한림-
dc.contributor.authorLee, Woo-Cheol-
dc.date.accessioned2023-06-23T19:35:08Z-
dc.date.available2023-06-23T19:35:08Z-
dc.date.issued2022-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=996313&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/309352-
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.languageeng-
dc.publisher한국과학기술원-
dc.titleSemantic-spatial relation-based exploration in uncertain environment-
dc.title.alternative불확실한 환경에서 의미론적 공간 관계 기반 탐사 방법-
dc.typeThesis(Ph.D)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :항공우주공학과,-
dc.contributor.alternativeauthor이우철-
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