Efficient Learning-Based Robotic Navigation Using Feature-Based RGB-D Pose Estimation and Topological Maps

Efficient Learning-Based Robotic Navigation Using Feature-Based RGB-D Pose Estimation and Topological Maps

Robust indoor robot navigation typically demands either costly sensors or extensive training data. We propose a cost-effective RGB-D navigation pipeline that couples feature-based relative pose estimation with a lightweight multi-layer-perceptron (MLP) policy. RGB-D keyframes extracted from human-dr...

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Bibliographic Details
Main Authors: Eder A. Rodríguez-Martínez, Jesús Elías Miranda-Vega, Farouk Achakir, Oleg Sergiyenko, Julio C. Rodríguez-Quiñonez, Daniel Hernández Balbuena, Wendy Flores-Fuentes
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Entropy
Subjects:
robotic navigation
topological map
visual memory
RGB-D camera
point clouds
neural networks
Online Access:https://www.mdpi.com/1099-4300/27/6/641
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