File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ICRA40945.2020.9196558
- Scopus: eid_2-s2.0-85092736925
- WOS: WOS:000712319500126
- Find via
Supplementary
- Citations:
- Appears in Collections:
Conference Paper: Real-time Uav Path Planning For Autonomous Urban Scene Reconstruction
Title | Real-time Uav Path Planning For Autonomous Urban Scene Reconstruction |
---|---|
Authors | |
Keywords | Buildings Image reconstruction Three-dimensional displays Path planning Drones |
Issue Date | 2020 |
Publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 |
Citation | Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2020), Virtually Conference, Paris, France, 31 May - 31 August 2020, p. 1156-1162 How to Cite? |
Abstract | Unmanned aerial vehicles (UAVs) are frequently used for large-scale scene mapping and reconstruction. However, in most cases, drones are operated manually, which should be more effective and intelligent. In this article, we present a method of real-time UAV path planning for autonomous urban scene reconstruction. Considering the obstacles and time costs, we utilize the top view to generate the initial path. Then we estimate the building heights and take close-up pictures that reveal building details through a SLAM framework. To predict the coverage of the scene, we propose a novel method which combines information on reconstructed point clouds and possible coverage areas. The experimental results reveal that the reconstruction quality of our method is good enough. Our method is also more time-saving than the state-of-the-arts. |
Persistent Identifier | http://hdl.handle.net/10722/284630 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kuang, Q | - |
dc.contributor.author | Wu, J | - |
dc.contributor.author | Pan, J | - |
dc.contributor.author | Zhou, B | - |
dc.date.accessioned | 2020-08-07T09:00:24Z | - |
dc.date.available | 2020-08-07T09:00:24Z | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2020), Virtually Conference, Paris, France, 31 May - 31 August 2020, p. 1156-1162 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/284630 | - |
dc.description.abstract | Unmanned aerial vehicles (UAVs) are frequently used for large-scale scene mapping and reconstruction. However, in most cases, drones are operated manually, which should be more effective and intelligent. In this article, we present a method of real-time UAV path planning for autonomous urban scene reconstruction. Considering the obstacles and time costs, we utilize the top view to generate the initial path. Then we estimate the building heights and take close-up pictures that reveal building details through a SLAM framework. To predict the coverage of the scene, we propose a novel method which combines information on reconstructed point clouds and possible coverage areas. The experimental results reveal that the reconstruction quality of our method is good enough. Our method is also more time-saving than the state-of-the-arts. | - |
dc.language | eng | - |
dc.publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.rights | IEEE International Conference on Robotics and Automation (ICRA). Copyright © IEEE, Computer Society. | - |
dc.rights | ©2020 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. | - |
dc.subject | Buildings | - |
dc.subject | Image reconstruction | - |
dc.subject | Three-dimensional displays | - |
dc.subject | Path planning | - |
dc.subject | Drones | - |
dc.title | Real-time Uav Path Planning For Autonomous Urban Scene Reconstruction | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Pan, J: jpan@cs.hku.hk | - |
dc.identifier.authority | Pan, J=rp01984 | - |
dc.identifier.doi | 10.1109/ICRA40945.2020.9196558 | - |
dc.identifier.scopus | eid_2-s2.0-85092736925 | - |
dc.identifier.hkuros | 312163 | - |
dc.identifier.spage | 1156 | - |
dc.identifier.epage | 1162 | - |
dc.identifier.isi | WOS:000712319500126 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1050-4729 | - |