Pre-Trained Masked Image Model for Mobile Robot Navigation

arXiv:2310.07021v2 Announce Type: replace-cross
Abstract: 2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have shown that predicting the structural patterns in the environment through learning-based approaches can greatly enhance task efficiency. While many such works build task-specific networks using limited datasets, we show that the existing foundational vision networks can accomplish the same without any …

arxiv cs.cv cs.ro image mobile navigation robot robot navigation type