RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation
Sourav Garg,Krishan Rana,Mehdi Hosseinzadeh,Lachlan Mares,Niko Sünderhauf,Feras Dayoub,Ian Reid,Sourav Garg,Krishan Rana,Mehdi Hosseinzadeh,Lachlan Mares,Niko Sünderhauf,Feras Dayoub,Ian Reid
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit object-level reasoning and interconnectivity. In this paper, we propose a novel topological representation of an environment based on , which are semantically meaningf...
