Hierarchical target-driven visual navigation in indoor environment
Navigation problem plays an important role in the field of artificial intelligence. In order to navigate the agent to a specific location efficiently, most researches take map information, relative distance towards the target or other prior information as input. Instead, this dissertation is target-...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/155435 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Navigation problem plays an important role in the field of artificial intelligence. In order to navigate the agent to a specific location efficiently, most researches take map information, relative distance towards the target or other prior information as input. Instead, this dissertation is target-driven navigation with only RGB images as input. To address this challenge, we decompose it into two subtasks: object-search and point-navigation. The agent first executes object-search task until the target object is detected, and then executes point-navigation task to reach the target. |
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