PlaceNav: 場所認識によるトポロジカルナビゲーション
PlaceNav: Topological Navigation through Place Recognition
トポロジカルナビゲーションを場所認識とベイズフィルタリングで効率化し、屋内・屋外での成功率と計算効率を大幅に改善した。
著者: Lauri Suomela, Jussi Kalliola, Harry Edelman, Joni-Kristian Kämäräinen
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of different types. However, the navigation methods' performance is still limited by the scarcity of suitable training data and they suffer from poor computational scaling. In this work, we present PlaceNav, subdividing the robot-independent part into navigation-specific and generic computer vision components. We utilize visual place recognition for the subgoal selection of the topological navigation pipeline. This makes subgoal selection more efficient and enables leveraging large-scale datasets from non-robotics sources, increasing training data availability. Bayesian filtering, enabled by place recognition, further improves navigation performance by increasing the temporal consistency of subgoals. Our experimental results verify the design and the new method obtains a 76% higher success rate in indoor and 23% higher in outdoor navigation tasks with higher computational efficiency.
