Trans4Map: Revisiting Holistic Bird's-Eye-View Mapping from Egocentric Images to Allocentric Semantics with Vision Transformers. (arXiv:2207.06205v2 [cs.CV] UPDATED)

Humans have an innate ability to sense their surroundings, as they can
extract the spatial representation from the egocentric perception and form an
allocentric semantic map via spatial transformation and memory updating.
However, endowing mobile agents with such a spatial sensing ability is still a
challenge, due to two difficulties: (1) the previous convolutional models are
limited by the local receptive field, thus, struggling to capture holistic
long-range dependencies during observation; (2) the excessive computational
budgets required for success, often …

arxiv images mapping semantics transformers vision