{"id":"https://openalex.org/W4403919930","doi":"https://doi.org/10.1109/ro-man60168.2024.10731338","title":"Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection","display_name":"Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4403919930","doi":"https://doi.org/10.1109/ro-man60168.2024.10731338"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man60168.2024.10731338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/RO-MAN60168.2024.10731338","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040223599","display_name":"Riccardo Franceschini","orcid":"https://orcid.org/0000-0001-5169-4047"},"institutions":[{"id":"https://openalex.org/I4210087295","display_name":"Centre Tecnologic de Telecomunicacions de Catalunya","ror":"https://ror.org/001cwea56","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210087295","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Riccardo Franceschini","raw_affiliation_strings":["Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain","institution_ids":["https://openalex.org/I4210087295"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Javier Rodriguez Marquez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087295","display_name":"Centre Tecnologic de Telecomunicacions de Catalunya","ror":"https://ror.org/001cwea56","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210087295","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Rodriguez Marquez","raw_affiliation_strings":["Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain","institution_ids":["https://openalex.org/I4210087295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088786582","display_name":"Matteo Fumagalli","orcid":"https://orcid.org/0000-0003-1485-4616"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Matteo Fumagalli","raw_affiliation_strings":["Danish Technical University,Automation and Control Group,Department of Electrical Engineering,Lyngby,Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Danish Technical University,Automation and Control Group,Department of Electrical Engineering,Lyngby,Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072953952","display_name":"Julian Cayero Becerra","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087295","display_name":"Centre Tecnologic de Telecomunicacions de Catalunya","ror":"https://ror.org/001cwea56","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210087295","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Julian Cayero Becerra","raw_affiliation_strings":["Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cerdanyola del Vall&#x00E8;s,Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain","institution_ids":["https://openalex.org/I4210087295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.531,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92128017,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2204","last_page":"2211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7411194443702698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7011942267417908},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6912446022033691},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6775598526000977},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5505549907684326},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5421664714813232},{"id":"https://openalex.org/keywords/aerial-image","display_name":"Aerial image","score":0.50528484582901},{"id":"https://openalex.org/keywords/aerial-photos","display_name":"Aerial photos","score":0.44395777583122253},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3412104845046997},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20163017511367798},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19817021489143372},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14781221747398376},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08008480072021484}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7411194443702698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7011942267417908},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6912446022033691},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6775598526000977},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5505549907684326},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5421664714813232},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.50528484582901},{"id":"https://openalex.org/C3018193623","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial photos","level":2,"score":0.44395777583122253},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3412104845046997},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20163017511367798},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19817021489143372},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14781221747398376},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08008480072021484},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ro-man60168.2024.10731338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/bf58375f-cedc-49b4-9d98-f49d98b65ecf","is_oa":false,"landing_page_url":"https://orbit.dtu.dk/en/publications/bf58375f-cedc-49b4-9d98-f49d98b65ecf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Franceschini , R , Marquez , J R , Fumagalli , M &amp; Becerra , J C 2024 , Point, Segment, and Inspect: Leveraging Promptable Segmentation Models for Semi-Autonomous Aerial Inspection . in Proceedings of 33 rd IEEE International Conference on Robot and Human Interactive Communication . IEEE , pp. 2204-2211 , 33 rd IEEE International Conference on Robot and Human Interactive Communication , Pasadena , California , United States , 26/08/2024 . https://doi.org/10.1109/RO-MAN60168.2024.10731338","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:zenodo.org:15124695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RO-MAN60168.2024.10731338","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:15124695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RO-MAN60168.2024.10731338","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W2167340365","https://openalex.org/W2465948386","https://openalex.org/W2744891270","https://openalex.org/W2745471877","https://openalex.org/W2760261649","https://openalex.org/W2773972075","https://openalex.org/W2786036844","https://openalex.org/W3091796030","https://openalex.org/W3094502228","https://openalex.org/W3130795566","https://openalex.org/W3135072749","https://openalex.org/W3135412377","https://openalex.org/W3189028868","https://openalex.org/W4206339166","https://openalex.org/W4213014901","https://openalex.org/W4221045795","https://openalex.org/W4283650916","https://openalex.org/W4285102529","https://openalex.org/W4312671791","https://openalex.org/W4367189325","https://openalex.org/W4378505180","https://openalex.org/W4379474533","https://openalex.org/W4382050764","https://openalex.org/W4382322597","https://openalex.org/W4390874575","https://openalex.org/W4396721411","https://openalex.org/W6676094908","https://openalex.org/W6747827861","https://openalex.org/W6782364735","https://openalex.org/W6786380668","https://openalex.org/W6803376173","https://openalex.org/W6852945390","https://openalex.org/W6853702739","https://openalex.org/W6854362512"],"related_works":["https://openalex.org/W2807234726","https://openalex.org/W1522196789","https://openalex.org/W4403024694","https://openalex.org/W2996197946","https://openalex.org/W2487965249","https://openalex.org/W2350906104","https://openalex.org/W103014513","https://openalex.org/W2138236571","https://openalex.org/W2396589139","https://openalex.org/W3034139063"],"abstract_inverted_index":{"Operating":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"for":[5],"assets":[6],"inspections":[7],"poses":[8],"distinct":[9],"challenges":[10],"encompassing":[11],"the":[12,20,27,35,54,59,84,87,91,108,111,115,120,132,143,153,164,171,182,185,189,196,202],"need":[13],"to":[14,52,76,166],"maintain":[15,167],"a":[16,47,147,175,210,219],"safe":[17],"distance":[18],"from":[19],"inspection":[21,96],"area,":[22],"ensure":[23],"correct":[24],"orientation":[25],"towards":[26],"inspected":[28],"surface,":[29],"and":[30,44,86,123,146,156,184],"achieve":[31],"comprehensive":[32],"coverage":[33],"of":[34,93,118,152,170,191,201],"entire":[36],"surface.":[37],"Achieving":[38],"these":[39],"tasks":[40],"is":[41,71,136,205],"inherently":[42],"complex":[43],"stressful.":[45],"Therefore,":[46],"novel":[48],"approach":[49],"that":[50],"seeks":[51],"enhance":[53],"piloting":[55],"experience":[56],"by":[57],"harnessing":[58],"latest":[60],"advancements":[61],"in":[62,218],"segmentation":[63,193],"models,":[64,74],"such":[65],"as":[66],"Segment":[67],"Anything":[68],"Model":[69],"(SAM),":[70],"proposed.":[72],"These":[73],"thanks":[75],"their":[77],"prompting":[78],"capabilities,":[79],"allow":[80],"seamless":[81],"communication":[82],"between":[83],"operator":[85,165],"UAV,":[88],"opening":[89],"up":[90],"possibility":[92],"defining":[94],"intricate":[95],"regions":[97],"through":[98,138,174,207],"simple":[99],"interactions.":[100],"Within":[101],"this":[102,130],"approach,":[103],"decision-making":[104,197],"authority":[105],"remains":[106],"with":[107,215],"operator,":[109],"while":[110],"UAV":[112,212],"takes":[113],"on":[114,142],"demanding":[116],"task":[117],"segmenting":[119],"designated":[121],"area":[122],"devising":[124],"an":[125],"appropriate":[126],"traversal":[127],"plan.":[128],"Throughout":[129],"process,":[131],"operator\u2019s":[133],"situational":[134],"awareness":[135],"heightened":[137],"visual":[139],"cues":[140],"overlaid":[141],"camera":[144],"stream":[145],"3D":[148],"panel":[149],"presenting":[150],"information":[151],"drone":[154],"position":[155],"spatially":[157],"sensed":[158],"data.":[159],"This":[160],"teleoperation":[161],"framework":[162,204],"allows":[163],"continuous":[168],"control":[169],"ongoing":[172],"operation":[173],"simplified":[176],"interface.":[177],"The":[178,199],"paper":[179],"delineates":[180],"both":[181],"system":[183],"methodology":[186],"employed,":[187],"showcasing":[188],"effectiveness":[190],"integrating":[192],"models":[194],"into":[195],"workflow.":[198],"validity":[200],"proposed":[203],"established":[206],"testing":[208],"within":[209],"photorealistic":[211],"simulator":[213],"along":[214],"real":[216],"experiments":[217],"controlled":[220],"laboratory":[221],"environment.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
