A Precise Teach and Repeat Visual Navigation System Based on the Convergence Theorem

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00318024" target="_blank" >RIV/68407700:21230/17:00318024 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

A Precise Teach and Repeat Visual Navigation System Based on the Convergence Theorem

Original language description

We present a simple teach-and-repeat visual navigation method robust to appearance changes induced by varying illumination and naturally-occurring environment changes. The method is computationally efficient, it does not require camera calibration and it can learn and autonomously traverse arbitrarily-shaped paths. During the teaching phase, where the robot is driven by a human operator, the robot stores its velocities and image features visible from its on-board camera. During autonomous navigation, the method does not perform explicit robot localisation in the 2d/3d space but it simply replays the velocities that it learned during a teaching phase, while correcting its heading relatively to the path based on its camera data. The experiments performed indicate that the proposed navigation system corrects position errors of the robot as it moves along the path. Therefore, the robot can repeatedly drive along the desired path, which was previously taught by the human operator. The presented system, which is based on a method that won the RoboTour challenge in 2009 and 2008, is provided as open source at www.github.com/gestom/ stroll_bearnav.

Czech name

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Czech description

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Type

O - Miscellaneous

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů