{"paper":{"title":"Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gregory Hitz, Inkyu Sa, Juan Nieto, Marija Popovic, Roland Siegwart, Teresa Vidal-Calleja","submitted_at":"2017-03-08T14:42:58Z","abstract_excerpt":"Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we introduce a new multiresolution mapping approach for informative path planning in terrain monitoring using UAVs. Our strategy exploits the spatial correlation encoded in a Gaussian Process model as a prior for Bayesian data fusion with probabilistic sensors. This allows us to incorporate altitude-dependent sensor models for aerial imaging and perform constan"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.02854","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}