Doctor of Philosophy, The Ohio State University, 2023, Electrical and Computer Engineering
We are currently in an era of "Information Exploration," which extends to modern intelligent platforms such as robotics, vehicles, and unmanned aerial systems. These platforms are typically equipped with multiple sensors, including but not limited to a vision system, radar, Light Detection and Ranging (LiDAR), and inertial measurement units (IMUs). With an abundance of raw data at their disposal, machine platforms must possess the capability to comprehend these data and take action, representing a hallmark of machine intelligence. In technical terms, this process is known as situational awareness, which primarily encompasses three stages: perception, comprehension, and projection.
Among these three stages, comprehension ability is of paramount importance, akin to the human brain's function in a machine. It is essential to effectively comprehend the raw data collected by various sensors and extract valid information for subsequent decision-making. The core of enabling platform-agnostic situational awareness is to effectively develop the machine's cognitive capabilities and design the necessary algorithms, irrespective of the specific platform, whether on the ground or in the air.
In this dissertation, our research primarily focuses on the development of advanced comprehension functions using modern machine learning models. Given that image data collected through vision systems often contain redundant natural signals and semantic clues, we place our emphasis on the vision system's robustness, as well as some aspects of geometric understanding, particularly in the context of 2D perspective views.
To meet the requirements of enabling situational awareness in various domains across different platforms, we employ a range of deep learning models, including multilayer perceptrons, convolutional neural networks, and deep reinforcement learning. In summary, we outline the contributions of this dissertation as follows:
1. Present a unified framework in an end-to-en (open full item for complete abstract)
Committee: Alper Yilmaz (Advisor); Jay Myung (Committee Member); Charles Toth (Committee Member); Rongjun Qin (Committee Member)
Subjects: Computer Engineering; Electrical Engineering