4 accepted papers
Our work builds upon Visual Teach & Repeat 2 (VT&R2): a vision-in-the-loop autonomous navigation system that enables the rapid construction of route networks, safely built through operator-controlled driving. Added routes can be followed autonomously using visual localization. To enable long-term op…
Vision-based, route-following algorithms enable autonomous robots to repeat manually taught paths over long distances using inexpensive vision sensors. However, these methods struggle with long-term, outdoor operation due to the challenges of environmental appearance change caused by lighting, weath…
Mobile robots supported by an electromechanical tether can safely explore extremely rugged terrain in resource-limited environments. While a tether provides power, wired communication, and support on steep surfaces, it also reduces maneuverability; in cluttered environments the tether will contact o
Stereo Visual Teach & Repeat (VT&R) is a system for long-range, autonomous route following in unstructured 3D environments. As this system relies on a passive sensor to localize, it is highly susceptible to changes in lighting conditions. Recent work in the optics community has provided a method to…