{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/empnet-neural-localisation-and-mapping-using","title":"EMPNet: Neural Localisation and Mapping Using Embedded Memory Points","arxiv_id":"1907.13268","date":"2019-07-31","proceeding":"ICCV 2019 10","authors":["Gil Avraham","Yan Zuo","Thanuja Dharmasiri","Tom Drummond"],"abstract":"Continuously estimating an agent's state space and a representation of its surroundings has proven vital towards full autonomy. A shared common ground among systems which successfully achieve this feat is the integration of previously encountered observations into the current state being estimated. This necessitates the use of a memory module for incorporating previously visited states whilst simultaneously offering an internal representation of the observed environment. In this work we develop a memory module which contains rigidly aligned point-embeddings that represent a coherent scene structure acquired from an RGB-D sequence of observations. The point-embeddings are extracted using modern convolutional neural network architectures, and alignment is performed by computing a dense correspondence matrix between a new observation and the current embeddings residing in the memory module. The whole framework is end-to-end trainable, resulting in a recurrent joint optimisation of the point-embeddings contained in the memory. This process amplifies the shared information across states, providing increased robustness and accuracy. We show significant improvement of our method across a set of experiments performed on the synthetic VIZDoom environment and a real world Active Vision Dataset.","url_abs":"https://arxiv.org/abs/1907.13268v2","url_pdf":"https://arxiv.org/pdf/1907.13268v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"empnet-neural-localisation-and-mapping-using","repo_url":"https://github.com/IntelligenceDatum/ICCV2019_Model_Compression","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1907.13268","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}