UAV-based navigation and grid mapping using semantic observations
Nicolas Mandel · Queensland University of Technology · 2023
This research was a step towards enabling Unmanned Aerial Vehicles to use semantic information for navigation. A navigation framework was established, a method to address constraints that UAVs face during early development stages was introduced and additional steps towards more effective grid maps for semantic navigation were taken by introducing a novel mapping approach and a map representation that respects UAV flying height. This thesis supports UAV autonomy by taking steps towards higher-level navigation using meaningful representations of environments.