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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

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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
New College
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Publication date:
2018-12-18
Acceptance date:
2018-02-28
DOI:
Pubs id:
pubs:859552
URN:
uri:6d579536-3392-4237-86e1-acf11ab6f68b
UUID:
uuid:6d579536-3392-4237-86e1-acf11ab6f68b
Local pid:
pubs:859552

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