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Semantic-MapNet

Code for the paper:

Semantic MapNet: Building Allocentric Semantic Maps and Representations from Egocentric Views Vincent Cartillier, Zhile Ren, Neha Jain, Stefan Lee, Irfan Essa, Dhruv Batra

Website: smnet.com

<p align="center"> <img src='res/img/smnet.png' alt="teaser figure" width="100%"/> </p>

Install

The code is tested with Ubuntu 16.04, Python 3.6, Pytorch v1.4+.

Demo

run the following script for demo:

python demo.py

Data

Workflow

Pre-trained models

Object-Goal Navigation

Replica

Citation

If you find our work useful in your research, please consider citing:

@article{cartillier2020semantic,
  title={Semantic MapNet: Building Allocentric SemanticMaps and Representations from Egocentric Views},
  author={Cartillier, Vincent and Ren, Zhile and Jain, Neha and Lee, Stefan and Essa, Irfan and Batra, Dhruv},
  journal={arXiv preprint arXiv:2010.01191},
  year={2020}
}

License

BSD