This article addresses the navigation problem of small and medium-sized unmanned aerial vehicles (UAVs) built to perform missions in forest environments (e.g., search and rescue) by exploiting the presence of natural or man-made paths, typically present in this type of environments. The proposed system extends a previous monocular-based technique for trail detection and tracking so as to take into account volumetric data acquired from a Visual SLAM algorithm and, as a result, to increase its sturdiness upon challenging trails. The experimental results, obtained via a set of 12 videos recorded with a camera installed in a tele-operated, unmanned small-sized aerial vehicle, show the ability of the proposed system to overcome some of the difficulties of the original detector, attaining a success rate of 97.8 .
The models referred in the previous paragraph are the basis of most work on path detection. An example is the use of knowledge about the color distributions of both the path and their surroundings for segmentation @cite_21 . The main direction of the path can also be learned off-line in a supervised way @cite_24 . The use of off-line learned models has the limitation that the robot is only able to perceive environments that have been covered by the training set. Robustness can be increased if these models are substituted by models learned on-line @cite_13 @cite_17 . In contrast to the road domain, the definition of the reference regions from which it is possible to supervise the learning process is challenging. With varying width and orientation, it is difficult to assure that the robot is on the path, and from that, which regions of the input image can be used as reference. Moreover, paths and its surroundings often exhibit the same height, which hampers a straightforward use of depth information to determine a path reference patch.
@cite_24 @cite_21 @cite_13 @cite_17
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This tutorial chapter aims to teach the main theoretical concepts and explain the use of ROS Navigation Stack. This is a powerful toolbox to path planning and Simultaneous Localization And Mapping (SLAM) but its application is not trivial due to lack of comprehension of the related concepts. This chapter will present the theory inside this stack and explain in an easy way how to perform SLAM in any robot. Step by step guides, example codes explained (line by line) and also real robot testing will be available. We will present the requisites and the how-tos that will make the readers able to set the odometry, establish reference frames and its transformations, configure perception sensors, tune the navigation controllers and plan the path on their own virtual or real robots. Scholars are increasingly citing electronic web references which are not preserved in libraries or full text archives. WebCite is a new standard for citing web references. To webcite a document involves archiving the cited Web page through www.webcitation.org and citing the WebCite permalink instead of (or in addition to) the unstable live Web page. This journal has amended its instructions for authors accordingly, asking authors to archive cited Web pages before submitting a manuscript. Almost 200 other journals are already using the system. We discuss the rationale for WebCite, its technology, and how scholars, editors, and publishers can benefit from the service. Citing scholars initiate an archiving process of all cited Web references, ideally before they submit a manuscript. Authors of online documents and websites which are expected to be cited by others can ensure that their work is permanently available by creating an archived copy using WebCite and providing the citation information including the WebCite link on their Web document(s). Editors should ask their authors to cache all cited Web addresses (Uniform Resource Locators, or URLs) prospectively before submitting their manuscripts to their journal. Editors and publishers should also instruct their copyeditors to cache cited Web material if the author has not done so already. Finally, WebCite can process publisher submitted citing articles (submitted for example as eXtensible Markup Language [XML] documents) to automatically archive all cited Web pages shortly before or on publication. Finally, WebCite can act as a focussed crawler, caching retrospectively references of already published articles. Copyright issues A citing sentence is one that appears in a scientific article and cites previous work. Citing sentences have been studied and used in many applications. For example, they have been used in scientific paper summarization, automatic survey generation, paraphrase identification, and citation function classification. Citing sentences that cite multiple papers are common in scientific writing. This observation should be taken into consideration when using citing sentences in applications. For instance, when a citing sentence is used in a summary of a scientific paper, only the fragments of the sentence that are relevant to the summarized paper should be included in the summary. In this paper, we present and compare three different approaches for identifying the fragments of a citing sentence that are related to a given target reference. Our methods are: word classification, sequence labeling, and segment classification. Our experiments show that segment classification achieves the best results. The sheer volume of scholarly publications available online significantly challenges how scholars retrieve the new information available and locate the candidate reference papers. While classical text retrieval and pseudo relevance feedback (PRF) algorithms can assist scholars in accessing needed publications, in this study, we propose an innovative publication ranking method with PRF by leveraging a number of meta-paths on the heterogeneous bibliographic graph. Different meta-paths on the graph address different ranking hypotheses, whereas the pseudo-relevant papers (from the retrieval results) are used as the seed nodes on the graph. Meanwhile, unlike prior studies, we propose "restricted meta-path" facilitated by a new context-rich heterogeneous network extracted from full-text publication content along with citation context. By using learning-to-rank, we integrate 18 different meta-path-based ranking features to derive the final ranking scores for candidate cited papers. Experimental results with ACM full-text corpus show that meta-path-based ranking with PRF on the new graph significantly (p