Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced rocks (PBRs), whose geometric fragility parameters can provide valuable information on earthquake shaking history and landscape development for a region. With this geomorphology problem as the test domain, we demonstrate a pipeline for detecting, localizing, and precisely mapping fragile geologic features distributed on a landscape. To do so, we first carry out a lawn-mower search pattern in the survey region from a high elevation using an Unpiloted Aerial Vehicle (UAV). Once a potential PBR target is detected by a deep neural network, we track the bounding box in the image frames using a real-time tracking algorithm. The location and occupancy of the target in world coordinates are estimated using a sampling-based filtering algorithm, where a set of 3D points are re-sampled after weighting by the tracked bounding boxes from different camera perspectives. The converged 3D points provide a prior on 3D bounding shape of a target, which is used for UAV path planning to closely and completely map the target with Simultaneous Localization and Mapping (SLAM). After target mapping, the UAV resumes the lawn-mower search pattern to find the next target. We introduce techniques to make the target mapping robust to false positive and missing detection from the neural network. Our target-oriented mapping system has the advantages of reducing map storage and emphasizing complete visible surface features on specified targets.
翻译:机器人绘图在科学应用中非常有用, 包括测量无结构环境。 本文为分布稀少的地质表面特征, 如不稳定平衡岩( PBRs) 提供了一个面向目标的绘图系统, 这些岩浆的几何脆弱参数可以提供地震震动历史和地区地貌发展的宝贵信息。 由于地貌问题作为测试域, 我们展示了一个探测、 本地化和精确绘制分布在地貌上的脆弱地质特征的管道。 为了做到这一点, 我们首先使用无人驾驶航空飞行器( UAV) 从高海拔地区进行草地移动搜索模式。 一旦一个潜在的PBR目标被一个深层神经网络探测到, 我们用实时跟踪算法跟踪图像框架的界限框。 世界坐标的位置和位置是使用基于取样的过滤算法估计的, 3D点在从不同摄像角度对追踪的捆绑框进行加权后重新标出。 3D点的连接点提供了一个前方, 3D 点提供了一个固定的地图形状, 下一个目标, 一旦被一个深层神经网络, 目标的定位系统被探测, 我们用直径的路径路路路路路路路路路路路路路路路, 不断恢复到SL 路图, 路路路图, 路路段搜索路路路路路路路路段, 至SL 直路路路路路路路路路路路路路路段到SL 路段路段 路路路路段路段到S 路段, 路路路段, 路段路段路段路段, 路段到S路段路段至S路段, 路段, 路段, 路段, 路段, 路段, 直路段至SLSLSL 路段路段到SL 路段路段到SL 路段到SL 路段路段路段路段 路段 路段搜索路段路段路段路段路段路段路段路段路段路段路段路段路段路段路段, 路段路段 路段 路段 路段路段路段路段路段路段路段路段路段路段图路段路段路段路段图路段图路段路段