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arXiv · 2104.03109

VGF-Net: Visual-Geometric Fusion Learning for Simultaneous Drone Navigation and Height Mapping

Yilin Liu·Ke Xie·Hui Huang
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Abstract

The drone navigation requires the comprehensive understanding of both visual and geometric information in the 3D world. In this paper, we present a Visual-Geometric Fusion Network(VGF-Net), a deep network for the fusion analysis of visual/geometric data and the construction of 2.5D height maps for simultaneous drone navigation in novel environments. Given an initial rough height map and a sequence of RGB images, our VGF-Net extracts the visual information of the scene, along with a sparse set of 3D keypoints that capture the geometric relationship between objects in the scene. Driven by the data, VGF-Net adaptively fuses visual and geometric information, forming a unified Visual-Geometric Representation. This representation is fed to a new Directional Attention Model(DAM), which helps enhance the visual-geometric object relationship and propagates the informative data to dynamically refine the height map and the corresponding keypoints. An entire end-to-end information fusion and mapping system is formed, demonstrating remarkable robustness and high accuracy on the autonomous drone navigation across complex indoor and large-scale outdoor scenes. The dataset can be found in http://vcc.szu.edu.cn/research/2021/VGFNet.

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Yilin Liu, Ke Xie, Hui Huang. 2021-04-07. VGF-Net: Visual-Geometric Fusion Learning for Simultaneous Drone Navigation and Height Mapping. https://arxiv.org/abs/2104.03109

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