Get observer movement with less image data more accurately by reinforcement learning
Get observer movement with less image data more accurately by reinforcement learning
RAM-VO: Less is more in Visual Odometry
arXiv paper abstract https://arxiv.org/abs/2107.02974v1
arXiv PDF paper https://arxiv.org/pdf/2107.02974v1.pdf
Building vehicles capable of operating without human supervision requires the determination of the agent's pose.
... estimate the egomotion using only visual changes from the input images.
... recent VO methods implement deep-learning techniques using convolutional neural networks (CNN) extensively, which add a substantial cost when dealing with high-resolution images.
... propose the RAM-VO, an extension of the Recurrent Attention Model (RAM)
... improves the visual and temporal representation of information and implements the Proximal Policy Optimization (PPO) algorithm to learn robust policies.
... perform regressions with six degrees of freedom from monocular input images using approximately 3 million parameters.
... achieves competitive results using only 5.7% of the available visual information.
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