Hierarchical target-driven visual navigation in indoor environment

• Main Author: Zhu, Hongrun
• Other Authors: Wang Dan Wei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/155435
• Institution: Nanyang Technological University

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.