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Visual Teach and Repeat using Appearance-Based Lidar @ UTIAS (ICRA 2012)

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Published on Jun 8, 2012

This video shows the benefits of using reflectance images to perform visual teach and repeat, which has been previously accomplished using stereo imagery. The result is a technique that allows a robot to drive a previous route regardless of the difference in lighting between the teach and repeat passes. It also provides a real-time solution to dark navigation.

This video is associated with the following papers:

McManus C, Furgale P T, Stenning B E, and Barfoot T D. "Visual Teach and Repeat Using Appearance- Based Lidar". In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 389--396. St. Paul, USA, 14-18 May 2012.

http://asrl.utias.utoronto.ca/~tdb/sb...

McManus C, Furgale P T, Stenning B E, and Barfoot T D. "Lighting-Invariant Visual Teach and Repeat Using Appearance-Based Lidar". Journal of Field Robotics, 30(2):254--287, 2013.

http://asrl.utias.utoronto.ca/~tdb/sb...

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