Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Radiation Search Operations using Scene Understanding with Autonomous
  UAV and UGV   Autonomously searching for hazardous radiation sources requires the ability
of the aerial and ground systems to understand the scene they are scouting. In
this paper, we present systems, algorithms, and experiments to perform
radiation search using unmanned aerial vehicles (UAV) and unmanned ground
vehicles (UGV) by employing semantic scene segmentation. The aerial data is
used to identify radiological points of interest, generate an orthophoto along
with a digital elevation model (DEM) of the scene, and perform semantic
segmentation to assign a category (e.g. road, grass) to each pixel in the
orthophoto. We perform semantic segmentation by training a model on a dataset
of images we collected and annotated, using the model to perform inference on
images of the test area unseen to the model, and then refining the results with
the DEM to better reason about category predictions at each pixel. We then use
all of these outputs to plan a path for a UGV carrying a LiDAR to map the
environment and avoid obstacles not present during the flight, and a radiation
detector to collect more precise radiation measurements from the ground.
Results of the analysis for each scenario tested favorably. We also note that
our approach is general and has the potential to work for a variety of
different sensing tasks.

36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
33
The categories of this paper are: plasm-ph
37
The categories of this paper are: supr-con
32
The categories of this paper are: atom-ph
2
The categories of this paper are: math
20
The categories of this paper are: acc-phys
23
The categories of this paper are: solv-int
25
The categories of this paper are: patt-sol
17
The categories of this paper are: q-fin
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
19
The categories of this paper are: eess