UAVセマンティックマッピングのための能動学習に向けた情報経路計画フレームワーク
An Informative Path Planning Framework for Active Learning in UAV-based Semantic Mapping
UAVが自律的に情報量の多い画像を取得し、手動ラベリングを最小限に抑えつつセマンティックセグメンテーションモデルを再学習するための経路計画フレームワークを提案。
著者: Julius Rückin, Federico Magistri, Cyrill Stachniss, Marija Popović
分類: cs.RO, cs.LG
原文アブストラクト
Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex environments. Commonly used supervised deep learning for segmentation relies on large amounts of pixel-wise labelled data, which is tedious and costly to annotate. The domain-specific visual appearance of aerial environments often prevents the usage of models pre-trained on publicly available datasets. To address this, we propose a novel general planning framework for UAVs to autonomously acquire informative training images for model re-training. We leverage multiple acquisition functions and fuse them into probabilistic terrain maps. Our framework combines the mapped acquisition function information into the UAV's planning objectives. In this way, the UAV adaptively acquires informative aerial images to be manually labelled for model re-training. Experimental results on real-world data and in a photorealistic simulation show that our framework maximises model performance and drastically reduces labelling efforts. Our map-based planners outperform state-of-the-art local planning.
