Visual Teach & Repeat @ UTIAS (JFR / ICRA 2010)

The video shows an external view, the robot's view during the repeat pass, the nearest teach-pass image, inlier feature counts, two dimensional localization, and three-dimensional localization.

Video is associated with the papers:

Furgale P T and Barfoot T D. Visual Teach and Repeat for Long-Range Rover Autonomy. Journal of Field Robotics, special issue on Visual mapping and navigation outdoors, 27(5): 534-560, 2010.

Furgale P T and Barfoot T D. Stereo Mapping and Localization for Long-Range Path Following on Rough Terrain. In Proceedings of the International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA, 3-8 May 2010.

Furgale P T and Barfoot T D. Visual Path Following on a Manifold in Unstructured Three-Dimensional Terrain. In Proceedings of the International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA, 3-8 May 2010. ICRA 2010 Kuka Service Robotics Best Paper Award.

Category:

Science & Technology

Tags:

• planetary rover
• over-the-horizon navigation
• visual teach and repeat