Semantic Environment Atlas for Object-Goal Navigation

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Nuri Kim, Jeongho Park, Mineui Hong, Songhwai Oh

Published: 2024, Last Modified: 11 Nov 2025Knowl. Based Syst. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•Enhanced Navigation Capabilities: The SEA enhances navigation using semantic graph maps, improving localization and tasks.•Robust Against Sensor Noise: SEA achieves robust navigation by leveraging semantic knowledge, even with sensor noise.•Localizing with Semantic Knowledge: The SEA boosts object position accuracy by incorporating semantic knowledge in localization.•Adaptability to Environmental Changes: The SEA dynamically updates to environmental changes, adjusting agent navigation effectively.•Computational Efficiency: The SEA is computationally efficient, using fewer resources while matching top methods’ performance.