ORB-SLAM2 Based Teach-and-Repeat System

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F21%3A00346462" target="_blank" >RIV/68407700:21730/21:00346462 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-030-70740-8_19" target="_blank" >https://doi.org/10.1007/978-3-030-70740-8_19</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-70740-8_19" target="_blank" >10.1007/978-3-030-70740-8_19</a>

Result language
angličtina
Original language name
ORB-SLAM2 Based Teach-and-Repeat System
Original language description
The teach-and-repeat task is autonomous navigation along the trajectory taught in advance. A robot is manually driven along the desired trajectory during a teaching phase, and it stores information about it. In this paper, there is proposed a simple teach-and-repeat system based on visual simultaneous localization and mapping system ORB-SLAM2. The map is created during the teaching phase, and it is saved together with a taught trajectory. Afterward, the robot follows the trajectory based on SLAM localization. In the experimental part, the system is compared with SSM-Nav appearance-based system with bearing-only navigation. Besides the presented system, the direct comparison of the SSM-Nav with a SLAM-based system is the main contribution of the paper.
Czech name
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Czech description
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Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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