Differentiable Mapping Networks: Learning Structured Map Representations for Sparse Visual Localization
Peter Karkus,Anelia Angelova,Vincent Vanhoucke,Rico Jonschkowski,Peter Karkus,Anelia Angelova,Vincent Vanhoucke,Rico Jonschkowski
Mapping and localization, preferably from a small number of observations, are fundamental tasks in robotics. We address these tasks by combining spatial structure (differentiable mapping) and end-to-end learning in a novel neural network architecture: the Differentiable Mapping Network (DMN). The DMN constructs a spatially structured view-embedding map and uses it for subsequent visual localizatio...
