GEN-SLAM: Generative Modeling for Monocular Simultaneous Localization and Mapping

Abstract: We present a Deep Learning based system for the twin tasks of localization and obstacle avoidance essential to any mobile robot. Our system learns from conventional geometric SLAM, and outputs, using a single camera, the topological pose of the camera in an environment, and the depth map of obstacles around it. We use a CNN to localize in a topological map, and a conditional VAE to output depth for a camera image, conditional on this topological location estimation. We demonstrate the effectiveness of our monocular localization and depth estimation system on simulated and real datasets.