Object Instance Retrieval in Assistive Robotics: Leveraging Fine-Tuned SimSiam with Multi-View Images Based on 3D Semantic Map

Robots that assist humans in their daily lives should be able to locate specific instances of objects in an environment that match a user's desired objects.

This task is known as instance-specific image goal navigation (InstanceImageNav), which requires a model that can distinguish different instances of an object within the same class.

A significant challenge in robotics is that when a robot observes the same object from various 3D viewpoints, its appearance may differ significantly, making it difficult to recognize and locate accurately.

In this paper, we introduce a method called SimView, which leverages multi-view images based on a 3D semantic map of an environment and self-supervised learning using SimSiam to train an instance-identification model on-site.

The effectiveness of our approach was validated using a photorealistic simulator, Habitat Matterport 3D, created by scanning actual home environments.

Our results demonstrate a 1.7-fold improvement in task accuracy compared with contrastive language-image pre-training (CLIP), a pre-trained multimodal contrastive learning method for object searching.

This improvement highlights the benefits of our proposed fine-tuning method in enhancing the performance of assistive robots in InstanceImageNav tasks.

The project website is https://emergentsystemlabstudent.github.io/MultiViewRetrieve/.

;Comment: See website at https://emergentsystemlabstudent.github.io/MultiViewRetrieve/.

Accepted to IROS2024