使用竞争合作变压器网络共同估计位置,深度和光流量
Xiaochen Liu1, Tao Zhang1, Mingming Liu2
1School of Instrument Science & Engineering, Southeast University, Nanjing, 210096, China; Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, 210096, Jiangsu, China.
概括
新的无监督网络PDF-Former通过共同估计深度,自我运动和光学流量来增强机器人导航. 它的变压器框架和新的机制提高了顺序任务的准确性和稳定性.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 估计深度,自我运动和光流对于机器人导航至关重要.
- 现有的方法往往在顺序任务中的准确性和稳定性方面扎.
研究的目的:
- 提出PDF-Former,一个无监督的机器人导航联合估计网络.
- 为了提高深度,自我运动和光学流量估计的准确性和稳定性.
主要方法:
- 使用完全基于变压器的框架来捕捉全球特征依赖.
- 实施竞争机制,以代优化6个DOF姿势,深度和光流.
- 采用合作机制,通过结果传输实现估计结果的相互优化.
主要成果:
- 在提高准确性和稳定性方面,PDF-Former表现出显著的潜力.
- 在KITTI数据集上进行了实验,验证了网络的性能.
结论:
- PDF-Former为推进机器人导航能力提供了一个有前途的方法.
- 拟议的竞争和合作机制有效地改善了联合估计业绩.
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