A Simulation Benchmark for Vision-based Autonomous Navigation

• URL: http://arxiv.org/abs/2203.13048v1
• Date: Thu, 24 Mar 2022 12:51:10 GMT
• Title: A Simulation Benchmark for Vision-based Autonomous Navigation
• Authors: Lauri Suomela, Atakan Dag, Harry Edelman, Joni-Kristian K\"am\"ar\"ainen
• Abstract summary: This work introduces a simulator benchmark for vision-based autonomous navigation. The benchmark includes a modular integration of different components of a full autonomous visual navigation stack.
• Score: 3.141160852597485
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This work introduces a simulator benchmark for vision-based autonomous navigation. The simulator offers control over real world variables such as the environment, time of day, weather and traffic. The benchmark includes a modular integration of different components of a full autonomous visual navigation stack. In the experimental part of the paper, state-of-the-art visual localization methods are evaluated as a part of the stack in realistic navigation tasks. To the authors' best knowledge, the proposed benchmark is the first to study modern visual localization methods as part of a full autonomous visual navigation stack.

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