Topometric imitation learning for route following under appearance change | |
Cai, Shaojun1; Wan, Yingjia2 | |
2020-06 | |
会议日期 | 2020, June 14, 2020 - June 19, 2020 |
会议地点 | 不详 |
DOI | 10.1109/CVPRW50498.2020.00513 |
页码 | 4354-4362 |
英文摘要 | Traditional navigation models in autonomous driving rely heavily on metric maps, which severely limits their application in large scale environments. In this paper, we introduce a two-level navigation architecture that contains a topological-metric memory structure and a deep image-based controller. The hybrid memory extracts visual features at each location point with a deep convolutional neural network, and stores information about local driving commands at each location point based on metric information estimated from egomotion information. The topological-metric memory is seamlessly integrated with a conditional imitation learning controller through the navigational commands that drives the vehicle between different vertices without collision. We test the whole system in teach-and-repeat experiments in an urban driving simulator. Results show that after being trained in a separate environment, the system could quickly adapt to novel environments with a single teach trial and follow route successively under various illumination and weather conditions. |
产权排序 | 2 |
会议录 | Proceedings - 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.psych.ac.cn/handle/311026/32462] |
专题 | 心理研究所_中国科学院行为科学重点实验室 |
作者单位 | 1.UISEE Technology Inc., 85 Hongan Road, Fangshan District, Beijing, China 2.Chinese Academy of Sciences, Key Laboratory of Behavioral Sciences, Institute of Psychology, 16 Lincui Road, Chaoyang District, Beijing, China |
推荐引用方式 GB/T 7714 | Cai, Shaojun,Wan, Yingjia. Topometric imitation learning for route following under appearance change[C]. 见:. 不详. 2020, June 14, 2020 - June 19, 2020. |
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