DGN

A knowledge-driven, lightweight image instance navigation framework

Shiyao Li*, Ziyang Meng*, b, c, d, e

†: Equal advising

Videos

DGN in action

DGN deplay in differnt embodiments and environments.

Overview

Understanding the performance of DGN

A sankey diagram showing the analysis of success and failure modes of DGN.

Comparison between DGN and mainstream visual navigation methods. Mainstream visual navigation methods (Other methods) rely on RGBD input or driven by language, constructing semantic maps with tightly coupled perception modules, resulting in storage-consuming deployments. Our method (DGN) only utilizes RGBD input and constructs an Internal Knowledge Graph (IKG) using a plug-and-play instance-aware module, recording semantic information and topological relationships of instances while dynamically updating the External Knowledge Graph (EKG) with object category correlation. This enables efficient navigation that is deployable on low-power, low-computation edge devices.

Paper

Knowledge-Driven Visual Target Navigation: Dual Graph Navigation

@article{li2024DGN,
  title={Knowledge-Driven Visual Target Navigation: Dual Graph Navigation},
  author={L,M,P,D,L,L},
  journal={arXiv preprint arXiv:},
  year={2024}
}