Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments
In this paper, we propose a three-dimensional autonomous drone exploration system (ADES) with a lightweight and low-latency saliency prediction model to explore unknown environments. Several studies have applied saliency prediction in drone exploration. However, these studies are not sufficiently ma...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Aerospace |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2226-4310/10/5/488 |
| _version_ | 1797601619388399616 |
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| author | Ming-Ru Xie Shing-Yun Jung Kuan-Wen Chen |
| author_facet | Ming-Ru Xie Shing-Yun Jung Kuan-Wen Chen |
| author_sort | Ming-Ru Xie |
| collection | DOAJ |
| description | In this paper, we propose a three-dimensional autonomous drone exploration system (ADES) with a lightweight and low-latency saliency prediction model to explore unknown environments. Several studies have applied saliency prediction in drone exploration. However, these studies are not sufficiently mature. For example, the computational complexity and the size of the developed prediction models have not been considered. In addition, some studies have only proposed saliency prediction models without actually applying them to drones. The ADES system proposed in this paper has a small and fast saliency prediction model and uses a novel drone exploration approach based on visual-inertial odometry to solve the practical problems encountered during drone exploration, such as collisions with and the repeated exploration of salient objects. The proposed ADES system performs comparably to the state-of-the-art, multiple-discontinuous-image saliency prediction network TA-MSNet and enables drones to explore unknown environments with high efficiency. |
| first_indexed | 2024-03-11T04:02:55Z |
| format | Article |
| id | doaj.art-a87e208296ae4f8b986d78b08929e5e2 |
| institution | Directory Open Access Journal |
| issn | 2226-4310 |
| language | English |
| last_indexed | 2024-03-11T04:02:55Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj.art-a87e208296ae4f8b986d78b08929e5e22023-11-18T00:01:04ZengMDPI AGAerospace2226-43102023-05-0110548810.3390/aerospace10050488Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown EnvironmentsMing-Ru Xie0Shing-Yun Jung1Kuan-Wen Chen2Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu 30010, TaiwanDepartment of Computer Science, National Yang Ming Chiao Tung University, Hsinchu 30010, TaiwanDepartment of Computer Science, National Yang Ming Chiao Tung University, Hsinchu 30010, TaiwanIn this paper, we propose a three-dimensional autonomous drone exploration system (ADES) with a lightweight and low-latency saliency prediction model to explore unknown environments. Several studies have applied saliency prediction in drone exploration. However, these studies are not sufficiently mature. For example, the computational complexity and the size of the developed prediction models have not been considered. In addition, some studies have only proposed saliency prediction models without actually applying them to drones. The ADES system proposed in this paper has a small and fast saliency prediction model and uses a novel drone exploration approach based on visual-inertial odometry to solve the practical problems encountered during drone exploration, such as collisions with and the repeated exploration of salient objects. The proposed ADES system performs comparably to the state-of-the-art, multiple-discontinuous-image saliency prediction network TA-MSNet and enables drones to explore unknown environments with high efficiency.https://www.mdpi.com/2226-4310/10/5/488automationdrone explorationlocation awarenessprediction methodsUAV exploration |
| spellingShingle | Ming-Ru Xie Shing-Yun Jung Kuan-Wen Chen Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments Aerospace automation drone exploration location awareness prediction methods UAV exploration |
| title | Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments |
| title_full | Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments |
| title_fullStr | Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments |
| title_full_unstemmed | Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments |
| title_short | Three-Dimensional Drone Exploration with Saliency Prediction in Real Unknown Environments |
| title_sort | three dimensional drone exploration with saliency prediction in real unknown environments |
| topic | automation drone exploration location awareness prediction methods UAV exploration |
| url | https://www.mdpi.com/2226-4310/10/5/488 |
| work_keys_str_mv | AT mingruxie threedimensionaldroneexplorationwithsaliencypredictioninrealunknownenvironments AT shingyunjung threedimensionaldroneexplorationwithsaliencypredictioninrealunknownenvironments AT kuanwenchen threedimensionaldroneexplorationwithsaliencypredictioninrealunknownenvironments |