Neural Topological SLAM for Visual Navigation

@article{Chaplot2020NeuralTS,
  title={Neural Topological SLAM for Visual Navigation},
  author={Devendra Singh Chaplot and R. Salakhutdinov and Abhinav Gupta and Saurabh Gupta},
  journal={2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2020},
  pages={12872-12881}
}
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… Expand
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