RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation

arXiv:2405.05792v1 Announce Type: cross
Abstract: Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit object-level reasoning and interconnectivity. In this paper, we propose a novel topological representation of an environment based on "image segments", which are semantically meaningful and open-vocabulary queryable, conferring several advantages over previous works based on pixel-level features. Unlike 3D scene graphs, we create a purely topological …

abstract arxiv cs.ai cs.cv cs.hc cs.lg cs.ro environment geometry graphs image map mapping navigation node novel object open-world optimization paper planning reasoning representation robot robot navigation segment spatial type visual visual navigation world