Hierarchical target-driven visual navigation in indoor environment
Navigation problem plays an important role in the field of artificial intelligence. In order to navigate the agent to a specific location efficiently, most researches take map information, relative distance towards the target or other prior information as input. Instead, this dissertation is target-...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/155435 |
| _version_ | 1811677747887472640 |
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| author | Zhu, Hongrun |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Zhu, Hongrun |
| author_sort | Zhu, Hongrun |
| collection | NTU |
| description | Navigation problem plays an important role in the field of artificial intelligence. In order to navigate the agent to a specific location efficiently, most researches take map information, relative distance towards the target or other prior information as input. Instead, this dissertation is target-driven navigation with only RGB images as input. To address this challenge, we decompose it into two subtasks: object-search and point-navigation. The agent first executes object-search task until the target object is detected, and then executes point-navigation task to reach the target. |
| first_indexed | 2024-10-01T02:42:17Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/155435 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:42:17Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1554352023-07-04T16:14:32Z Hierarchical target-driven visual navigation in indoor environment Zhu, Hongrun Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Navigation problem plays an important role in the field of artificial intelligence. In order to navigate the agent to a specific location efficiently, most researches take map information, relative distance towards the target or other prior information as input. Instead, this dissertation is target-driven navigation with only RGB images as input. To address this challenge, we decompose it into two subtasks: object-search and point-navigation. The agent first executes object-search task until the target object is detected, and then executes point-navigation task to reach the target. Master of Science (Computer Control and Automation) 2022-02-25T02:18:55Z 2022-02-25T02:18:55Z 2022 Thesis-Master by Coursework Zhu, H. (2022). Hierarchical target-driven visual navigation in indoor environment. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/155435 https://hdl.handle.net/10356/155435 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Zhu, Hongrun Hierarchical target-driven visual navigation in indoor environment |
| title | Hierarchical target-driven visual navigation in indoor environment |
| title_full | Hierarchical target-driven visual navigation in indoor environment |
| title_fullStr | Hierarchical target-driven visual navigation in indoor environment |
| title_full_unstemmed | Hierarchical target-driven visual navigation in indoor environment |
| title_short | Hierarchical target-driven visual navigation in indoor environment |
| title_sort | hierarchical target driven visual navigation in indoor environment |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | https://hdl.handle.net/10356/155435 |
| work_keys_str_mv | AT zhuhongrun hierarchicaltargetdrivenvisualnavigationinindoorenvironment |