Master Thesis Title: Learning-based World Representation

A robot that moves through the world has to remember what it has seen. Classical mapping stores this memory in hand-designed structures such as grids and graphs, which fix the size, the resolution and the kind of information in advance. Hand-designed maps have limits. A grid has a fixed resolution and extent, a scene graph holds only what someone decided to put in it, and combining geometry with semantics takes extra engineering. Recent models can infer geometry directly from images, and sequen…