Article

RPV-SemNav proposes zero-shot indoor navigation method without prior maps

RPV-SemNav proposes a zero-shot indoor navigation method that requires no prior map. It maps target and observed objects into probability vectors over nine room categories (RPV) and uses spatial co-occurrence semantics to guide exploration. The system combines open-vocabulary detection, CLIP semantic alignment, and free-space propagation, enabling the robot to first understand the room and then decide where to look for the target.

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