Pose-guided End-to-end Visual Navigation
文献类型：期刊论文
| 作者 | Fang,Cuiyun1,2; Zhang,Chaofan2; Tang,Fulin3; Wang,Fan2; Wu,Yihong3; Liu,Yong2 |
| 刊名 | Journal of Physics: Conference Series
 |
| 出版日期 | 2021-04-01 |
| 卷号 | 1873 |
| ISSN号 | 1742-6588 |
| DOI | 10.1088/1742-6596/1873/1/012011 |
| 英文摘要 | Abstract End-to-end visual navigation based on deep reinforcement learning (DRL) has recently attracted much attention. For most existing navigation methods, a robot moves along only fixed directions (e.g., up, down, left and right) on a grid. Obviously, they are not flexible and efficient, which worsens the navigation performance (i.e., the distance of movement and times of rotation). To address this problem, we propose a novel pose-guided end-to-end visual navigation framework, which is flexible and efficient. In the pose-guided navigation framework, a robot can move along arbitrary directions, which are determined by poses between adjacent objects. Further, to select a proper motion and finally form an optimal path, we propose a DRL based action-selected strategy, where a dynamic action select space on the basis of deep siamese actor-critic network is developed. Besides, to validate the proposed method, we propose a novel pose-guided dataset. Experimental results demonstrate that the proposed method outperforms the state of the arts in both flexibility and efficiency. |
| 语种 | 英语 |
| WOS记录号 | IOP:1742-6588-1873-1-012011 |
| 出版者 | IOP Publishing |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/121872]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 作者单位 | 1.Institute of Physical Science and Information Technology, Anhui University, Anhui 230000, China 2.Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Anhui, 230000, China 3.The National Laboratory of Pattern Recognition, Institute of Automation, Chinese Ac ademy of Sciences, Beijing, 101408, China |
| 推荐引用方式 GB/T 7714 | Fang,Cuiyun,Zhang,Chaofan,Tang,Fulin,et al. Pose-guided End-to-end Visual Navigation[J]. Journal of Physics: Conference Series,2021,1873. |
| APA | Fang,Cuiyun,Zhang,Chaofan,Tang,Fulin,Wang,Fan,Wu,Yihong,&Liu,Yong.(2021).Pose-guided End-to-end Visual Navigation.Journal of Physics: Conference Series,1873. |
| MLA | Fang,Cuiyun,et al."Pose-guided End-to-end Visual Navigation".Journal of Physics: Conference Series 1873(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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