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devendrachaplot / Object-Goal-Navigation

Pytorch code for NeurIPS-20 Paper "Object Goal Navigation using Goal-Oriented Semantic Exploration"
https://devendrachaplot.github.io/projects/semantic-exploration
MIT License
310 stars 58 forks source link

Issue about the generated occupancy map. #11

Closed JeremyLinky closed 2 years ago

JeremyLinky commented 3 years ago

Hey! Thanks for your awesome work here! I have a question as below: When I visualize the _agentview and corresponding RGB (from obs) in model. Semantic_Mapping.forward, I found that the generated occupancy map is opposite to the occupancy of the actual scene in RGB. For example, in the figure below, the generated object A in the generated map is on the right side of the agent, while in the real RGB it is on the left. Several other major objects can also be seen from the red two-way arrows. a7bfb7d221c46870323ec564a95fd70 At first, I thought that after applying the rotated and translated operation behind, this situation would disappear. But when I continue to visualize translated, it seems that this situation still exists (shown as below). Can you explain why this is? Thanks!

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duxuan321 commented 2 years ago

hello, may I ask that, can you get an occupancy map which has the same shape as ground-truth? I mean, besides the problem you mentioned, does semantic mapping module work well?

devendrachaplot commented 2 years ago

You just need to flip the visualization vertically. The mapping code logic is correct.