goselo_caffe
Python code to try GOSELO.
Asako Kanezaki, Jirou Nitta and Yoko Sasaki. GOSELO: Goal-Directed Obstacle and Self-Location Map for Robot Navigation using Reactive Neural Networks. IEEE Robotics and Automation Letters (RA-L), Vol.3, Issue 2, pp.696-703, 2018. (presented in ICRA'18)
Requirement
Install caffe.
Prepare your Makefile.config and compile.
$ make; make pycaffe
Download
$ wget https://data.airc.aist.go.jp/kanezaki.asako/pretrained_models/goselo_visible.caffemodel
$ wget https://data.airc.aist.go.jp/kanezaki.asako/pretrained_models/goselo_invisible.caffemodel
Demo
$ python demo_navigation_visible.py map_images/default.png
or
$ python demo_navigation_invisible.py map_images/default.png