用单目相机构建拓扑地图，实现轻量级高效导航
Topological Mapping and Navigation using a Monocular Camera based on AnyLoc
- 基于AnyLoc将关键帧转为描述子，构建节点间拓扑关系
- 无需预训练，在真实与仿真环境均实现90%以上导航成功率
- 相比ResNet方法提升60.2%成功率，内存和计算开销更低
本文提出一种基于单目相机的拓扑地图构建与导航方法。基于AnyLoc，将关键帧转换为描述子以建立拓扑关系，实现回环检测与地图构建。与度量地图不同，拓扑地图通过关键节点表示环境，简化路径规划与导航。视觉导航动作通过对比分割图像与目标节点关联图像确定。系统仅依赖单目相机，实现快速建图与导航。实验表明，该方法在真实与仿真环境中均实现有效回环检测与导航，无需预训练。相比基于ResNet的方法，平均成功率提升60.2%，同时显著降低时间和空间开销，为机器人及人机导航提供轻量化解决方案。
原文摘要 · Abstract (English)
This paper proposes a method for topological mapping and navigation using a monocular camera. Based on AnyLoc, keyframes are converted into descriptors to construct topological relationships, enabling loop detection and map building. Unlike metric maps, topological maps simplify path planning and navigation by representing environments with key nodes instead of precise coordinates. Actions for visual navigation are determined by comparing segmented images with the image associated with target nodes. The system relies solely on a monocular camera, ensuring fast map building and navigation using key nodes. Experiments show effective loop detection and navigation in real and simulation environments without pre-training. Compared to a ResNet-based method, this approach improves success rates by 60.2% on average while reducing time and space costs, offering a lightweight solution for robot and human navigation in various scenarios.
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