{"id":"https://openalex.org/W2774601788","doi":"https://doi.org/10.1109/iros.2017.8206585","title":"Looking forward: A semantic mapping system for scouting with micro-aerial vehicles","display_name":"Looking forward: A semantic mapping system for scouting with micro-aerial vehicles","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774601788","doi":"https://doi.org/10.1109/iros.2017.8206585","mag":"2774601788"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072585551","display_name":"Daniel Maturana","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Maturana","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020226783","display_name":"Sankalp Arora","orcid":"https://orcid.org/0000-0002-8162-4119"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sankalp Arora","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072585551"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":34.6891,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.99309139,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6691","last_page":"6698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7571051120758057},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5570571422576904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5562305450439453},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47185584902763367},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.43360036611557007},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43344929814338684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4121389389038086},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3362146317958832},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18116414546966553},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17348137497901917}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7571051120758057},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5570571422576904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5562305450439453},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47185584902763367},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.43360036611557007},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43344929814338684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4121389389038086},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3362146317958832},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18116414546966553},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17348137497901917},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W360623563","https://openalex.org/W639708223","https://openalex.org/W801273237","https://openalex.org/W1165382972","https://openalex.org/W1483870316","https://openalex.org/W1530919911","https://openalex.org/W1602540331","https://openalex.org/W1686810756","https://openalex.org/W1745334888","https://openalex.org/W1817277359","https://openalex.org/W1867736525","https://openalex.org/W1903029394","https://openalex.org/W1905829557","https://openalex.org/W1999050017","https://openalex.org/W2054389289","https://openalex.org/W2110439892","https://openalex.org/W2125215748","https://openalex.org/W2152175008","https://openalex.org/W2163605009","https://openalex.org/W2167687475","https://openalex.org/W2171943915","https://openalex.org/W2265661972","https://openalex.org/W2419448466","https://openalex.org/W2505004417","https://openalex.org/W2557728737","https://openalex.org/W2558580397","https://openalex.org/W2563047139","https://openalex.org/W2570336801","https://openalex.org/W2570343428","https://openalex.org/W2737130609","https://openalex.org/W2737258237","https://openalex.org/W2775767803","https://openalex.org/W2952147788","https://openalex.org/W2962835968","https://openalex.org/W2963037989","https://openalex.org/W2963564867","https://openalex.org/W2963840672","https://openalex.org/W4293406525","https://openalex.org/W6631771220","https://openalex.org/W6684191040","https://openalex.org/W6685336329"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4221065211"],"abstract_inverted_index":{"The":[0,118,141,153],"last":[1],"decade":[2],"has":[3],"seen":[4],"a":[5,41,63,68,86,109,121,156,164,177,190,218],"massive":[6],"growth":[7],"in":[8,15,47,62,74,79,82,196,209,224],"applications":[9,57],"for":[10,21,56],"Micro-Aerial":[11],"Vehicles":[12],"(MAVs),":[13],"due":[14],"large":[16,38],"part":[17],"to":[18,33,45,49,91,97,100,114,168],"their":[19],"versatility":[20],"data":[22,52],"gathering":[23],"with":[24,66,163],"cameras,":[25],"LiDAR":[26],"and":[27,138,170,184],"various":[28],"other":[29],"sensors.":[30],"Their":[31],"ability":[32],"quickly":[34],"go":[35],"from":[36,40],"assessing":[37],"spaces":[39],"high":[42],"vantage":[43],"points":[44],"flying":[46],"close":[48],"capture":[50],"high-resolution":[51],"makes":[53],"them":[54],"invaluable":[55],"where":[58],"we":[59,88,107,212],"are":[60],"interested":[61],"specific":[64],"target":[65],"an":[67],"priori":[69],"unknown":[70],"location,":[71],"e.g.":[72],"survivors":[73],"disaster":[75],"response":[76],"scenarios,":[77],"vehicles":[78],"surveillance,":[80],"animals":[81],"wildlife":[83],"monitoring,":[84],"etc.,":[85],"task":[87],"will":[89],"refer":[90],"scouting.":[92,103],"Our":[93],"ultimate":[94],"goal":[95],"is":[96,143],"enable":[98],"MAVs":[99],"perform":[101],"autonomous":[102,220],"In":[104],"this":[105,116],"paper,":[106],"describe":[108],"semantic":[110,131,160,174],"mapping":[111,166,207],"system":[112,119,154,208,216],"designed":[113],"support":[115],"goal.":[117],"maintains":[120],"2.5D":[122,179],"map":[123,142],"describing":[124],"its":[125],"belief":[126],"about":[127],"the":[128,147,172,203,206,214,225],"location":[129],"of":[130,133,193,205],"classes":[132],"interest,":[134],"using":[135,149],"forward-looking":[136],"cameras":[137],"state":[139],"estimation.":[140],"continuously":[144],"updated":[145],"on":[146,189],"fly,":[148],"only":[150],"onboard":[151],"processing.":[152],"couples":[155],"deep":[157],"learning":[158],"2D":[159,173],"segmentation":[161,187],"algorithm":[162],"novel":[165,191],"method":[167,188],"project":[169],"aggregate":[171],"measurements":[175],"into":[176],"global":[178],"grid":[180],"map.":[181],"We":[182,200],"train":[183],"evaluate":[185],"our":[186],"dataset":[192],"cars":[194],"labelled":[195],"oblique":[197],"aerial":[198],"imagery.":[199],"also":[201],"study":[202],"performance":[204],"isolation.":[210],"Finally,":[211],"show":[213],"integrated":[215],"performing":[217],"fully":[219],"car":[221],"scouting":[222],"mission":[223],"field.":[226]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
