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Real-world Instance-specific Image Goal Navigation for Service Robots: Bridging the Domain Gap with Contrastive Learning
April 16, 2024, 4:48 a.m. | Taichi Sakaguchi, Akira Taniguchi, Yoshinobu Hagiwara, Lotfi El Hafi, Shoichi Hasegawa, Tadahiro Taniguchi
cs.CV updates on arXiv.org arxiv.org
Abstract: Improving instance-specific image goal navigation (InstanceImageNav), which locates the identical object in a real-world environment from a query image, is essential for robotic systems to assist users in finding desired objects. The challenge lies in the domain gap between low-quality images observed by the moving robot, characterized by motion blur and low-resolution, and high-quality query images provided by the user. Such domain gaps could significantly reduce the task success rate but have not been the …
arxiv cs.cl cs.cv cs.ro domain gap image instance navigation robots service type world
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