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Trans4Map: Revisiting Holistic Top-down Mapping from Egocentric Images to Allocentric Semantics with Vision Transformers. (arXiv:2207.06205v1 [cs.CV])
July 14, 2022, 1:12 a.m. | Chang Chen, Jiaming Zhang, Kailun Yang, Kunyu Peng, Rainer Stiefelhagen
cs.CV updates on arXiv.org arxiv.org
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 …
More from arxiv.org / cs.CV updates on arXiv.org
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