Neural topological SLAM for visual navigation

Devendra Singh Chaplot, Ruslan Salakhutdinov, Abhinav Gupta, Saurabh Gupta

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space that effectively leverage semantics and afford approximate geometric reasoning. At the heart of our representations are nodes with associated semantic features, that are interconnected using coarse geometric information. We describe supervised learning-based algorithms that can build, maintain and use such representations under noisy actuation. Experimental study in visually and physically realistic simulation suggests that our method builds effective representations that capture structural regularities and efficiently solve long-horizon navigation problems. We observe a relative improvement of more than 50% over existing methods that study this task.

Original languageEnglish (US)
Article number9157610
Pages (from-to)12872-12881
Number of pages10
JournalProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
DOIs
StatePublished - 2020
Event2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2020 - Virtual, Online, United States
Duration: Jun 14 2020Jun 19 2020

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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