Robust Scene Perception for Drones in Degraded Visual Environments

退化视觉环境中无人机的鲁棒场景感知

• 批准号: 2602646
• 金额: --
• 依托单位: University of Edinburgh
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2021
• 资助国家: 英国
• 起止时间: 2021 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2602646
• 关键词: Robust; Scene; Perception; Drones; Degraded

To robustly perceive the environment under low-visibility, this project will explore a novel scene perception system designed for drones. The new system would feature a set of emerging lightweight sensors intrinsically robust against visual degradation (e.g., single-chip millimeterwave radars, thermopile arrays, event cameras and solid-state LiDARs) and resource-aware computation pipeline adaptive to the drone's capability. Focusing on two pillar tasks of scene perception, we would like drones to attain reliable performance in (1) 3D metric mapping and (2) semantic mapping under adverse visual conditions.

为了在低能见度条件下稳健地感知环境，本项目将探索一种新的无人机场景感知系统。新系统将配备一组新兴的轻型传感器，具有抗视觉退化的特性（例如，单芯片毫米波雷达、热电堆阵列、事件相机和固态激光雷达），以及适应无人机能力的资源感知计算管道。针对场景感知的两大支柱任务，我们希望无人机能够在(1)3D度量映射和(2)不利视觉条件下的语义映射中获得可靠的性能。