Vision-based robot localization without explicit object models
Why this work is in the frame
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Bibliographic record
Abstract
We consider the problem of locating a robot in an initially-unfamiliar environment from visual input. The robot is not given a map of the environment, but it does have access to a collection of training examples, each of which specifies the video image observed when the robot is at a particular location and orientation. We address two variants of this problem: how to estimate translation of a moving robot assuming the orientation is known, and how to estimate translation and orientation for a mobile robot. Performing scene reconstruction to construct a metric map of the environment using only video images is difficult. We avoid this by using an approach in which the robot learns to convert a set of image measurements into a representation of its pose (position and orientation). This provides a metric estimate of the robot's location within a region covered by the statistical map we build. Localization can be performed online without a prior location estimate, The conversion from visual data to camera pose is implemented using a multilayer neural network that is trained using backpropagation. An aspect of the approach is the use of an inconsistency measure to eliminate incorrect data and estimate components of the pose vector. The experimental data reported in this paper suggests that the accuracy and flexibility of the technique is good, while the online computational cost is very low.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it