The invention relates to a zero-sample target navigation method and
system based on object
perception memory, and the method comprises the steps: S1, obtaining environment observation information at a current moment, constructing an occupancy graph, and extracting a
leading edge point; s2, caching the environment observation information to a memory buffer area; s3, screening related historical observation frames of each
leading edge point from the memory buffer area according to the
visibility constraint and the distance constraint; s4, extracting an object region
image sequence based on the related historical observation frame; s5, in combination with the
natural language description of the target object and the
image sequence, obtaining a
semantic matching score of each
leading edge point, and selecting a target exploration point based on the
semantic matching scores; and S6, performing path planning and navigation control in the occupancy map according to the target exploration point, terminating the navigation task when the target object is identified in the visual field, and otherwise, returning to S1 until navigation succeeds or the preset
step number upper limit is reached. According to the invention, the accuracy of target positioning and the efficiency of the
navigation path can be improved.