DeepNav: Learning to Navigate Large Cities

被引:24
|
作者
Brahmbhatt, Samarth [1 ]
Hays, James [1 ]
机构
[1] Georgia Inst Technol, Atlanta, GA 30332 USA
来源
30TH IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR 2017) | 2017年
关键词
D O I
10.1109/CVPR.2017.329
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images. The DeepNav agent learns to reach its destination quickly by making the correct navigation decisions at intersections. We collect a large-scale dataset of street-view images organized in a graph where nodes are connected by roads. This dataset contains 10 city graphs and more than 1 million street-view images. We propose 3 supervised learning approaches for the navigation task and show how A* search in the city graph can be used to generate supervision for the learning. Our annotation process is fully automated using publicly available mapping services and requires no human input. We evaluate the proposed DeepNav models on 4 held-out cities for navigating to 5 different types of destinations. Our algorithms outperform previous work that uses hand-crafted features and Support Vector Regression (SVR) [19].
引用
收藏
页码:3087 / 3096
页数:10
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