相关论文: Variational End-to-End Navigation and Localization

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-conditioned behavior, but benchmarks are still dominated by…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards.…

Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…

This review article is an attempt to survey all recent AI based techniques used to deal with major functions in This review paper presents a comprehensive overview of end-to-end deep learning frameworks used in the context of autonomous…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…