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MapNet: An allocentric spatial memory for mapping environments

Abstract:

Autonomous agents need to reason about the world beyond their instantaneous sensory input. Integrating information over time, however, requires switching from an egocentric representation of a scene to an allocentric one, expressed in the world reference frame. It must also be possible to update the representation dynamically, which requires localizing and registering the sensor with respect to the world reference. In this paper, we develop a differentiable module that satisfies such requirem...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/CVPR.2018.00884

Authors


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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
New College
Role:
Author
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Journal:
Conference on Computer Vision and Pattern Recognition (CVPR 2018) Journal website
Host title:
Conference on Computer Vision and Pattern Recognition (CVPR 2018)
Publication date:
2018-12-18
Acceptance date:
2018-02-28
DOI:
Source identifiers:
859552
Pubs id:
pubs:859552
UUID:
uuid:6d579536-3392-4237-86e1-acf11ab6f68b
Local pid:
pubs:859552
Deposit date:
2018-06-27

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