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This version:
1.1.0
Latest version:
http://w3id.org/onto4drone
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Onto4drone aims to represent the knowledge related to cultural heritage semantic trajectories generated from unmanned aerial vehicles (UAVs). The development of the ontology was motivated by use cases related to UAVs’ mission to document (with photos recording events) specific regions and points of cultural heritage interest (such as the GeoPark of petrified forest in Lesvos island).
Contributors:
E. Moraitou, i-Lab, University of the Aegean
K. Kotis, i-Lab, University of the Aegean
S. Angelis, i-Lab, University of the Aegean
A. Soularidis, i-Lab, University of the Aegean
Download serialization:
JSON-LD RDF/XML N-Triples TTL
License:
http://insertlicenseURIhere.example.org
Visualization:
Visualize with WebVowl
Evaluation:
Evaluate with OOPS!
Cite as:
Kotis, K.; Angelis, S.; Moraitou, E.; Kopsachilis, V.; Papadopoulou, E.-E.; Soulakellis, N.; Vaitis, M. A KG-Based Integrated UAV Approach for Engineering Semantic Trajectories in the Cultural Heritage Documentation Domain. Remote Sens. 2023, 15, 821. https://doi.org/10.3390/rs15030821
Ontology Specification

Abstract

The aim of the ontology is to represent the knowledge related to drones' semantic trajectories (flights, missions, recordings). Reuses datAcron ontology.

Introduction back to ToC

The data and knowledge that the underlying model of an STaKG aims to capture is derived from five different—though interlinked—thematic domains: (i) trajectory information, (ii) drones’ flight and mission information, (iii) recording events and resulting records, (iv) geographical information of regions/points of interest, and (v) weather conditions. The data types related to the five thematic domains are the following:
  • Flight data, derived from flight log files, which are written records of a flight automatically generated by a drone. Flight log files contain flight details concerning flight planning information along with time-stamped movement of the drone and on-board sensor data (e.g., longitude, latitude, altitude, timestamp of different positions). Flight log files are usually stored (usually in CSV format) in the native application of a device (remote control, mobile phone, or tablet) and the drone’s pilot application.
  • Equipment data, which are the data reported by the flight operator, describing the characteristics of a drone (e.g., model, serial number, software type). These data are documented after the in situ survey using drone data management software (the drone logbook).
  • Mission data, which are the data reported by the flight operator in the context of the mission planning procedure (e.g., the purpose of the mission, the category of the mission, the area of the mission, the equipment to be used). These data are documented by experts right after the mission, using drone data management software.
  • Recorded data (aerial and terrestrial), which are data extracted from files (photos, videos, lidar data) acquired during the flight mission (e.g., longitude, latitude, date, time of the recording). These data are provided either by Exif files of the records or directly from the records.
  • Geographic names and elements, which are data about the POIs/ROIs at which the objects of interest are located, and where the drone’s mission occurs (e.g., cities, villages, ports, buildings, archaeological sites).
  • Weather data, which are data (e.g., temperature, humidity, wind velocity) recorded by weather monitoring devices or systems. These they are dynamically collected from external (web) services or/and in-drone sensors, based on the time and location of the mission that is recorded.

Namespace declarations

Table 1: Namespaces used in the document
dront<http://w3id.org/onto4drone>
schema<http://schema.org>
owl<http://www.w3.org/2002/07/owl>
Fthesaurus<http://vocabularies.unesco.org/browser/thesaurus/en/page/?uri=http%3A%2F%2Fvocabularies.unesco.org%2Fthesaurus%2>
xsd<http://www.w3.org/2001/XMLSchema>
swrlb<http://www.w3.org/2003/11/swrlb>
skos<http://www.w3.org/2004/02/skos/core>
rdfs<http://www.w3.org/2000/01/rdf-schema>
ekt<https://www.semantics.gr/authorities/schemanamespaces/ekt>
swrla<http://swrl.stanford.edu/ontologies/3.3/swrla.owl>
genreForms<http://id.loc.gov/authorities/genreForms>
sf<http://www.opengis.net/ont/sf>
terms<http://purl.org/dc/terms>
xml<http://www.w3.org/XML/1998/namespace>
DUL<http://www.ontologydesignpatterns.org/ont/dul/DUL.owl>
vann<http://purl.org/vocab/vann>
foaf<http://xmlns.com/foaf/0.1>
sosa<http://www.w3.org/ns/sosa>
vocabularies<http://semantics.gr/authorities/vocabularies>
subjects<http://id.loc.gov/authorities/subjects>
thesaurus<http://vocabularies.unesco.org/thesaurus>
swrl<http://www.w3.org/2003/11/swrl>
geosparql<http://www.opengis.net/ont/geosparql>
ont<http://www.co-ode.org/ontologies/ont.owl>
rdf<http://www.w3.org/1999/02/22-rdf-syntax-ns>
datAcron<http://www.datacron-project.eu/datAcron>
dc<http://purl.org/dc/elements/1.1>

onto4drone: Overview back to ToC

This ontology has the following classes and properties.

Classes

Object Properties

Data Properties

onto4drone: Description back to ToC

The ontology was developed following the HCOME collaborative engineering methodology, supported by Protege 5.5 (for personal space engineering), and WebProtégé (for shared space engineering), respectively. In addition, Google Docs and Google Meet were used for further collaborative engineering tasks. The involved team included six members: two experts in the field of cartography and geoinformatics, one expert in the field of geoinformatics and software engineering, two ontology engineers and one ontology and software engineer. The basic concepts and relations of the model implemented in the Onto4drone ontology are briefly presented in the following figure in the form of a concept map.
map of classes and relations

Cross-reference for onto4drone classes, object properties and data properties back to ToC

This section provides details for each class and property defined by onto4drone.

Classes

Constant Recording Positionc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#ConstantRecordingPosition

The spatiotemporal position on which recording -constantly- occurs.
has super-classes
Recording Position c

Dronec back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Drone

Any type of unmanned vehicle, aerial or marine (surface or underwater).
has super-classes
moving object c, physical object c
has sub-classes
UAV drone c, UMV drone c
is in domain of
carries equipment op, is activated dp, is drone participant in op, is part of swarm op, is paused dp
is in range of
has drone participant op, has part drone op

Drone Carrying Equipmentc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DroneCarryingEquipment

The equipment carried by the drone for different purposes.
has super-classes
physical object c
has sub-classes
Drone Military Equipment c, Drone Recording Equipment c
is in domain of
has maker dp, has model dp
is in range of
carries equipment op

Drone Laser Scannerc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DroneLaserScanner

The device used for laser scanning.
has super-classes
Drone Recording Equipment c
has members
laser scanner 001 ni

Drone Military Equipmentc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DroneMillitaryEquipment

The equipment used for military purposes, carried by the drone
has super-classes
Drone Carrying Equipment c
has sub-classes
Gun c

Drone Photographic Camerac back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DronePhotographicCamera

The device used for photography.
has super-classes
Drone Recording Equipment c
has members
camera 001 ni

Drone Recording Equipmentc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DroneRecordingEquipment

The devices used for the recording, and carried by the drone.
has super-classes
Drone Carrying Equipment c
has sub-classes
Drone Laser Scanner c, Drone Photographic Camera c, Drone Video Camera c

Drone Video Camerac back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#DroneVideoCamera

The device used for video recording.
has super-classes
Drone Recording Equipment c

Entity of Interestc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#EntityOfInterest

The entity of interest of any kind (object, event, living organism), that the recording activity aims to record.
has super-classes
entity c
has sub-classes
Event of Interest c, Object of Interest c, Point of Interest c, Region of Interest c
is in domain of
has OSM type dp, has interest op, is recorded in op
is in range of
records op

Event of Interestc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#EventOfInterest

The specific event that the recording activity aims to record. This event may be a natural phenomenon, the movement of an individual etc.
has super-classes
Entity of Interest c, event c

flightc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Flight

has super-classes
action c
is in domain of
forms trajectory op
is in range of
has flight op, includes flight op, is trajectory formed by op
has members
flight 001 of mission 001 ni, flight 002 of mission 001 ni

flying objectc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#FlyingObject

has super-classes
moving object c
has sub-classes
UAV drone c

Gunc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Gun

has super-classes
Drone Military Equipment c

GunShootingc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#GunShootingEvent

To model military-related events (of drones carrying guns)
has super-classes
Military Event c

Laser Scanning Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#LaserScanningEvent

A laser scanner recording event.
has super-classes
Recording Event c
has members
laser scanning event 001 of trajectory 001 of phantom 001 (UAV) ni

marine objectc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#MarineObject

has super-classes
moving object c
has sub-classes
UMV drone c

Military Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#MilitaryEvent

has super-classes
event c
has sub-classes
GunShooting c, Search and Rescue c

Missionc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Mission

The mission of the drone flight. It may comprise more than one flight.
has super-classes
event c
is in domain of
includes flight op
has members
mission 001 ni

Object of Interestc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#ObjectOfInterest

The specific physical object that the recording activity aims to record. The object of interest may be a tree, a monument, a person etc.
has super-classes
Entity of Interest c, object c
has members
petrified trunk ni

Panoramic Photographc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#PanoramicPhotograph

A photograph that captures horizontally elongated fields of view.
has super-classes
Photograph c

Panoramic Shooting Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#PanoramicShootingEvent

A photographic camera recording event which results in panoramic photos.
has super-classes
Photo Shooting Event c

Photo Shooting Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#PhotoShootingEvent

A photographic camera recording event.
has super-classes
Recording Event c
has sub-classes
Panoramic Shooting Event c
has members
photo shooting event 001 of trajectory 001 of inspire 001 (UAV) ni

Photographc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Photograph

A picture made using a photographic camera.
has super-classes
Record c
has sub-classes
Panoramic Photograph c
has members
photograph 001 ni

Point Cloudc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#PointCloud

A set of data points in space which represent a 3D shape or object captured by a laser scanner.
has super-classes
Record c
has members
point cloud 001 ni

Point of Interestc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#PointOfInterest

The specific spatial point that the recording activity aims to record. The point of interest may be literally one geometric point or an central point of a wider entity of interest.
has super-classes
Entity of Interest c, point c

Processed Recordc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#ProcessedRecord

A record which has been processed by experts using specialised software.
has super-classes
document c
is in domain of
originates from op

Recordc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Record

The result of the recording process.
has super-classes
document c
has sub-classes
Photograph c, Point Cloud c, Video c
is in domain of
has format dp, has size dp, has storage path dp, is produced by op
is in range of
is recorded in op, originates from op, produces op

Recording Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#RecordingEvent

The aerial recording (process) of a region of interest, a movable or immovable object of interest, a moving or still object of interest, an event of interest.
has super-classes
event c
has sub-classes
Laser Scanning Event c, Photo Shooting Event c, Video Recording Event c
is in domain of
produces op, records op
is in range of
is produced by op

Recording Positionc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#RecordingPosition

The spatiotemporal position on which recording -instantly- occurs.
has super-classes
trajectory part c
has sub-classes
Constant Recording Position c
has members
position 001 of trajectory 001 of phantom 001 (UAV) ni

Recording Segmentc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#RecordingSegment

The process of recording which takes place in certain spatiotemporal positions regarding the trajectory of the flying drone.
has super-classes
segment c
has members
trajectory segment 001 of trajectory 001 of inspire 001 (UAV) ni, trajectory segment 001 of trajectory 001 of phantom 001 (UAV) ni

Region of Interestc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Region_of_Interest

The specific region that the recording activity aims to record. The region of interest may be a forest, an archaeological space, a town etc.
has super-classes
Entity of Interest c, region c
is in domain of
has address dp, has place ID dp

Search and Rescuec back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#SearchAndRescue

has super-classes
Military Event c

Swarmc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Swarm

A group of flying entities which aggregate together and move en masse in the same direction, while they may have the same or close departure and starting point. Perhaps the flying entities have a common or similar mission.
has super-classes
abstract c
has sub-classes
Swarm of drones c

Swarm of dronesc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#SwarmOfDrones

A set of drones flying in formation and collaboration to accomplish a mission
has super-classes
Swarm c
is in domain of
has part drone op
is in range of
is part of swarm op
has members
swarm of drones 001 ni

UAV dronec back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#UAVDrone

An aircraft without any human pilot, crew or passengers on board. The flight of the drone can be operated either remotely by a human or by a software.
Is defined by
http://w3id.org/onto4drone
has super-classes
Drone c, flying object c
is in domain of
has flight op
has members
inspire 001 (UAV) ni, phantom 001 (UAV) ni

UMV dronec back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#UMVDrone

A marine vehicle without any human pilot, crew or passengers on board. The trip of the drone can be operated either remotely by a human or by a software.
has super-classes
Drone c, marine object c

Videoc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#Video

A record of moving visual images captured by a video camera.
has super-classes
Record c

Video Recording Eventc back to ToC or Class ToC

IRI: http://w3id.org/onto4drone#VideoRecordingEvent

A video camera recording event.
has super-classes
Recording Event c

Object Properties

carries equipmentop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#carriesEquipment

Specifies the equipment carried by a drone
has super-properties
top object property
has domain
Drone c
has range
Drone Carrying Equipment c

clustersop back to ToC or Object Property ToC

IRI: http://www.co-ode.org/ontologies/ont.owl#clusters

Defines the trajectories clusetered in a TrajectorCluster
has super-properties
has part op
has domain
trajectory cluster c
has range
trajectory c

enclosesop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#encloses

Specifies the trajectory that the segments is part of

has characteristics: inverse functional

has super-properties
has part op
has domain
trajectory c
has range
segment c

forms trajectoryop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#formsTrajectory

Specifies the flight which forms a trajectory
has domain
flight c
has range
trajectory c
is inverse of
is trajectory formed by op

has drone participantop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasDroneParticipant

Specifies the drone that participates in an event.
has super-properties
has participant op
has domain
Military Event c or Recording Event c
has range
Drone c
is inverse of
is drone participant in op

has flightop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasFlight

has super-properties
is participant in op
has domain
UAV drone c
has range
flight c

has interestop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasInterest

Correlates an entity of interest with the type of interest that it presents.
has domain
Entity of Interest c
has range
concept c

has occurred eventop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasOccurredEvent

has domain
trajectory part c
has range
event c
is inverse of
occurs op

has part droneop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasPartDrone

has super-properties
has part op
has domain
Swarm of drones c
has range
Drone c
is inverse of
is part of swarm op

has trajectoryop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#hasTrajectory

Specifies the moving object that forms the trajectory.

has characteristics: inverse functional

has domain
moving object c
has range
trajectory c
is inverse of
trajectory refers to op

includes flightop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#includesFlight

Specifies flightes included in a misson

has characteristics: inverse functional

has super-properties
has constituent op
has domain
Mission c
has range
flight c

is drone participant inop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isDroneParticipantIn

has super-properties
is participant in op
has domain
Drone c
has range
Military Event c or Recording Event c
is inverse of
has drone participant op

is part of swarmop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isPartOfSwarm

has super-properties
is part of op
has domain
Drone c
has range
Swarm of drones c
is inverse of
has part drone op

is produced byop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isProducedBy

has domain
Record c
has range
Recording Event c
is inverse of
produces op

is recorded inop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isRecordedIn

Specifies the records an entity has been recorded in
has domain
Entity of Interest c
has range
Record c

is trajectory formed byop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isTrajectoryFormedBy

has domain
trajectory c
has range
flight c
is inverse of
forms trajectory op

is weather condition ofop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#isWeatherConditionOf

is inverse of
has weather condition op

originates fromop back to ToC or Object Property ToC

IRI: http://www.co-ode.org/ontologies/ont.owl#originatesFrom

Defines the record from which a processed record originates
has super-properties
associated with op
has domain
Processed Record c
has range
Record c

producesop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#produces

Specifies the record produced by a recornding event

has characteristics: inverse functional

has domain
Recording Event c
has range
Record c
is inverse of
is produced by op

recordsop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#records

Specifies the entity that is beeing recorded in a recording event
has domain
Recording Event c
has range
Entity of Interest c

trajectory refers toop back to ToC or Object Property ToC

IRI: http://w3id.org/onto4drone#trajectoryRefersTo

Defines the moving object that the trajectory is referring to.

has characteristics: functional

has domain
trajectory c
has range
moving object c
is inverse of
has trajectory op

Data Properties

has addressdp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasAddress

has domain
Region of Interest c
has range
string

has formatdp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasFormat

has domain
Record c
has range
string

has lattitudedp back to ToC or Data Property ToC

IRI: http://www.datacron-project.eu/datAcron#hasLattitude

has range
string

has longitudedp back to ToC or Data Property ToC

IRI: http://www.datacron-project.eu/datAcron#hasLongitude

has range
string

has makerdp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasMaker

has domain
Drone Carrying Equipment c
has range
string

has modeldp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasModel

has domain
Drone Carrying Equipment c
has range
string

has OSM typedp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasOSMType

has domain
Entity of Interest c
has range
string

has place IDdp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasPlaceID

has domain
Region of Interest c
has range
string

has sizedp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasSize

has domain
Record c
has range
string

has storage pathdp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasStoragePath

has domain
Record c
has range
string

has velocitydp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#hasVelocity

has domain
geometry c
has range
string

is activateddp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#isActivated

has domain
Drone c
has range
boolean

is pauseddp back to ToC or Data Property ToC

IRI: http://w3id.org/onto4drone#isPaused

has domain
Drone c
has range
boolean

Legend back to ToC

c: Classes
op: Object Properties
dp: Data Properties

Acknowledgments back to ToC

The authors would like to thank Silvio Peroni for developing LODE, a Live OWL Documentation Environment, which is used for representing the Cross Referencing Section of this document and Daniel Garijo for developing Widoco, the program used to create the template used in this documentation.