強化学習による視覚オドメトリの適応的制御
Reinforcement Learning Meets Visual Odometry
視覚オドメトリ(VO)を逐次意思決定問題として捉え、強化学習でキーフレーム選択やグリッドサイズを動的に調整することで、人手によるパラメータ調整を不要にし精度と頑健性を向上させた研究。
著者: Nico Messikommer, Giovanni Cioffi, Mathias Gehrig, Davide Scaramuzza
分類: cs.CV, cs.RO
原文アブストラクト
Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by human experts, hindering generalizability and robustness. We address these challenges by reframing VO as a sequential decision-making task and applying Reinforcement Learning (RL) to adapt the VO process dynamically. Our approach introduces a neural network, operating as an agent within the VO pipeline, to make decisions such as keyframe and grid-size selection based on real-time conditions. Our method minimizes reliance on heuristic choices using a reward function based on pose error, runtime, and other metrics to guide the system. Our RL framework treats the VO system and the image sequence as an environment, with the agent receiving observations from keypoints, map statistics, and prior poses. Experimental results using classical VO methods and public benchmarks demonstrate improvements in accuracy and robustness, validating the generalizability of our RL-enhanced VO approach to different scenarios. We believe this paradigm shift advances VO technology by eliminating the need for time-intensive parameter tuning of heuristics.
