@inproceedings{e784d0d6119b4cecb63fe3dddb4d4557,
title = "Viewpoint estimation for visual target navigation by leveraging keypoint detection",
abstract = "In this paper, we tackle the problem of visual target navigation which is a crucial task for embodied AI. Given a target observation and an initial observation, we extract keypoints using an off-the-shelf keypoint detection model. Then we find sparse keypoint correspondences and estimate the relative camera pose with the PnP algorithm to reach the viewpoint for the target observation. Compared to conventional approaches, our method is faster, and more robust to scene changes and occlusions. We collected a 3D scan dataset in a university building and the proposed method is verified using the dataset.",
keywords = "Keypoint detection, Viewpoint estimation, Visual navigation, Visual servoing",
author = "Yunho Choi and Nuri Kim and Jeongho Park and Songhwai Oh",
note = "Publisher Copyright: {\textcopyright} 2020 Institute of Control, Robotics, and Systems - ICROS.; 20th International Conference on Control, Automation and Systems, ICCAS 2020 ; Conference date: 13-10-2020 Through 16-10-2020",
year = "2020",
month = oct,
day = "13",
doi = "10.23919/ICCAS50221.2020.9268215",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "1162--1165",
booktitle = "2020 20th International Conference on Control, Automation and Systems, ICCAS 2020",
}