Robust Visual Teach and Repeat Navigation for Unmanned Aerial Vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00352831" target="_blank" >RIV/68407700:21230/21:00352831 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/21:00352831
Result on the web
<a href="https://doi.org/10.1109/ECMR50962.2021.9568807" target="_blank" >https://doi.org/10.1109/ECMR50962.2021.9568807</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR50962.2021.9568807" target="_blank" >10.1109/ECMR50962.2021.9568807</a>
Alternative languages
Result language
angličtina
Original language name
Robust Visual Teach and Repeat Navigation for Unmanned Aerial Vehicles
Original language description
Vision-based navigation is one of the leading tasks in mobile robotics. It, however, introduces additional challenges in long-term autonomy due to its reliance on stable visual features. As such, visual navigation methods are often sensitive to appearance changes and unreliable in environments with low feature density. We present a teach-and-repeat navigation system for unmanned aerial vehicles (UAVs) equipped with a low-end camera. We use a novel visual place recognition methodology based on high-level CNN features to localize a robot on a previously traversed trajectory and to directly calculate heading corrections for navigation. The developed navigation method is fully vision-based and independent of other sensory information, making it universal and easily transferable. The system has been experimentally verified and evaluated with respect to a state-of-the-art ORB2-TaR navigation system. It showed comparable results in terms of its precision and robustness to environmental changes. In addition, the system was able to safely navigate in environments with low feature density and to reliably solve the wake-up robot problem.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
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)
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 10th European Conference on Mobile Robots
ISBN
978-1-6654-1213-1
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
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Publisher name
IEEE
Place of publication
Brussels
Event location
Bonn
Event date
Aug 31, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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