{"id":"https://openalex.org/W4403938289","doi":"https://doi.org/10.1109/tvt.2024.3489229","title":"Semantic-Driven Informed Planning and 3D Reconstruction for the Quadrotor Unmanned Aerial Vehicle","display_name":"Semantic-Driven Informed Planning and 3D Reconstruction for the Quadrotor Unmanned Aerial Vehicle","publication_year":2024,"publication_date":"2024-10-31","ids":{"openalex":"https://openalex.org/W4403938289","doi":"https://doi.org/10.1109/tvt.2024.3489229"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3489229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3489229","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-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/A5048632449","display_name":"Xiaotian Xu","orcid":"https://orcid.org/0000-0002-6674-1106"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotian Xu","raw_affiliation_strings":["Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-6674-1106","affiliations":[{"raw_affiliation_string":"Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101442817","display_name":"Xuetao Zhang","orcid":"https://orcid.org/0000-0002-8485-8818"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]},{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuetao Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin, China","Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8485-8818","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005467310","display_name":"Yisha Liu","orcid":"https://orcid.org/0000-0003-2083-8612"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisha Liu","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-2083-8612","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078811091","display_name":"Hanzhang Wang","orcid":"https://orcid.org/0000-0001-8177-6342"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanzhang Wang","raw_affiliation_strings":["Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-8177-6342","affiliations":[{"raw_affiliation_string":"Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]},{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin, China","Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (IRAIS), Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5308-6539","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (IRAIS), Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-7640-4330","affiliations":[{"raw_affiliation_string":"Intelligent Robotic Laboratory, School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2044,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49974148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"74","issue":"3","first_page":"3843","last_page":"3853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.988099992275238,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.988099992275238,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9628999829292297,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9538999795913696,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.5031628012657166},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.48750874400138855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45111703872680664},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.440904825925827},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41673824191093445},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39638733863830566},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.37593892216682434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36104220151901245},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3330739140510559},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2363404631614685},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17311230301856995},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14986339211463928}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5031628012657166},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.48750874400138855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45111703872680664},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.440904825925827},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41673824191093445},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39638733863830566},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.37593892216682434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36104220151901245},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3330739140510559},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2363404631614685},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17311230301856995},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14986339211463928}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3489229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3489229","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G1123105928","display_name":null,"funder_award_id":"U22B2041","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1948155773","display_name":null,"funder_award_id":"62103077","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6071371962","display_name":null,"funder_award_id":"2022Z022063001","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G6227050068","display_name":null,"funder_award_id":"U23A20384","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2409009991","https://openalex.org/W2482852384","https://openalex.org/W2523049145","https://openalex.org/W2573758756","https://openalex.org/W2607968634","https://openalex.org/W2736958649","https://openalex.org/W2767011576","https://openalex.org/W2787091153","https://openalex.org/W2793826897","https://openalex.org/W2811158378","https://openalex.org/W2891234582","https://openalex.org/W2904612118","https://openalex.org/W2910054127","https://openalex.org/W2966477753","https://openalex.org/W2973864946","https://openalex.org/W2979369486","https://openalex.org/W3026491381","https://openalex.org/W3035218572","https://openalex.org/W3088460576","https://openalex.org/W3090386798","https://openalex.org/W3095315965","https://openalex.org/W3097090618","https://openalex.org/W3119042051","https://openalex.org/W3125164440","https://openalex.org/W3194521805","https://openalex.org/W3196904463","https://openalex.org/W3198702850","https://openalex.org/W3214825189","https://openalex.org/W3217061540","https://openalex.org/W4200079766","https://openalex.org/W4200433588","https://openalex.org/W4200451362","https://openalex.org/W4213433509","https://openalex.org/W4312513129","https://openalex.org/W4315750730","https://openalex.org/W4378373434","https://openalex.org/W4381232948","https://openalex.org/W4385151905","https://openalex.org/W4385245566","https://openalex.org/W4389666463","https://openalex.org/W6842806116"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W2076947815","https://openalex.org/W1541316785","https://openalex.org/W2093391009"],"abstract_inverted_index":{"Autonomous":[0],"aerial":[1,11,65],"reconstruction":[2,39,66,79,119,148,171],"tackles":[3],"the":[4,8,26,32,38,42,46,56,70,74,77,92,97,117,121,130,134,142,147,159,163,170],"problem":[5],"of":[6,45,120,168],"deploying":[7],"quadrotor":[9],"unmanned":[10],"vehicle":[12],"in":[13,154,166],"an":[14,102],"unknown":[15],"environment":[16],"for":[17,96],"vision-based":[18],"surface":[19],"reconstruction.":[20],"The":[21],"state-of-the-art":[22,164],"methods":[23,165],"mainly":[24],"extend":[25],"classic":[27],"next-best-view":[28],"(NBV)":[29],"framework":[30],"with":[31],"semantic":[33,94,131],"information":[34,86,95],"to":[35,55,90,115,139],"concentrate":[36],"on":[37],"target.":[40,122],"However,":[41],"greedy":[43],"decision":[44],"next":[47],"viewpoint":[48],"or":[49],"branch":[50],"without":[51],"global":[52],"consideration":[53],"leads":[54],"low":[57],"efficiency.":[58],"This":[59],"paper":[60],"proposes":[61],"a":[62,83,106,124],"novel":[63,107],"semantic-driven":[64],"planner,":[67],"which":[68,128],"integrates":[69],"task":[71],"relevance":[72],"into":[73,133],"planning,":[75],"making":[76],"concentrative":[78,118],"more":[80],"efficient.":[81],"Specifically,":[82],"new":[84],"surface-frontier":[85],"structure":[87],"is":[88,113,137],"extended":[89],"maintain":[91],"rich":[93],"fine-grained":[98],"planning.":[99],"Driven":[100],"by":[101],"attention-based":[103],"frontier":[104,109],"filter,":[105],"relevance-aware":[108],"sequence":[110],"generation":[111],"method":[112,161],"proposed":[114,138,160],"achieve":[116],"Then":[123],"semantic-informed":[125],"local":[126],"refinement,":[127],"incorporates":[129],"gain":[132],"graph":[135],"search,":[136],"further":[140],"reduce":[141],"flight":[143],"cost":[144],"and":[145,173],"improve":[146],"quality.":[149,174],"Comparative":[150],"experiments":[151],"are":[152],"conducted":[153],"simulation":[155],"environments,":[156],"demonstrating":[157],"that":[158],"outperforms":[162],"terms":[167],"both":[169],"efficiency":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
