Deep Active Localization

@article{Gottipati2019DeepAL,
  title={Deep Active Localization},
  author={Sai Krishna Gottipati and Keehong Seo and Dhaivat Bhatt and Vincent Mai and Krishna Murthy and Liam Paull},
  journal={IEEE Robotics and Automation Letters},
  year={2019},
  volume={4},
  pages={4394-4401}
}
  • Sai Krishna Gottipati, Keehong Seo, +3 authors Liam Paull
  • Published in
    IEEE Robotics and Automation…
    2019
  • Computer Science, Engineering, Mathematics
  • Active localization consists of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches use an information-theoretic criterion for action selection and hand-crafted perceptual models. In this work we propose an end-to-end differentiable method for learning to take informative actions that is trainable entirely in simulation and then transferable to real robot hardware with zero refinement. The system is composed of two learned… CONTINUE READING

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