Performance Comparison of Visual Teach and Repeat Systems for Mobile Robots

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366932" target="_blank" >RIV/68407700:21230/23:00366932 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/978-3-031-31268-7_1" target="_blank" >https://doi.org/10.1007/978-3-031-31268-7_1</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-031-31268-7_1" target="_blank" >10.1007/978-3-031-31268-7_1</a>

Result language

angličtina

Original language name

Performance Comparison of Visual Teach and Repeat Systems for Mobile Robots

Original language description

In practical work scenarios, it is often necessary to repeat specific tasks, which include navigating along a desired path. Visual teach and repeat systems are a type of autonomous navigation in which a robot repeats a previously taught path using a camera and dead reckoning. There have been many different teach and repeat methods proposed in the literature, but only a few are open-source. In this paper, we compare four recently published open-source methods and a Boston Dynamics proprietary solution embedded in a Spot robot. The intended use for each method is different, which has an impact on their strengths and weaknesses. When deciding which method to use, factors such as the environment and desired precision and speed should be taken into consideration. For example, in controlled artificial environments, which do not change significantly, navigation precision and speed are more important than robustness to environment variations. However, the appearance of unstructured natural environments varies over time, making robustness to changes a crucial property for outdoor navigation systems. This paper compares the speed, precision, reliability, robustness, and practicality of the available teach and repeat methods. We will outline their flaws and strengths, helping to choose the most suitable method for a particular utilization.

Czech name

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Czech description

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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)

Project

<a href="/en/project/GC20-27034J" target="_blank" >GC20-27034J: Towards long-term autonomy through introduction of the temporal domain into spatial representations used in robotics</a><br>

Continuities

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

Publication year

2023

Confidentiality

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

Article name in the collection

Modelling and Simulation for Autonomous Systems (MESAS 2022)

ISBN

978-3-031-31267-0

ISSN

0302-9743

e-ISSN

1611-3349

Number of pages

22

Pages from-to

3-24

Publisher name

Springer, Cham

Place of publication

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Event location

Praha

Event date

Oct 20, 2022

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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