Visual Teach and Repeat (VT&R) is an effective method to enable a vehicle to repeat any previously driven route using just a visual sensor and without a global positioning system. However, one of the major challenges in recognizing previously visited locations is lighting change, as this can drastically alter the appearance of the scene. In an effort to achieve lighting invariance, this paper details the design of a VT&R system that uses a laser scanner as the primary sensor. Unlike a traditional scan-matching approach, we apply appearance-based computer vision techniques to laser intensity images for motion estimation, providing us the benefit of lighting invariance. Field tests were conducted in an outdoor, planetary analogue environment, over an entire diurnal cycle, repeating a 1.1 km route more than 10 times with an autonomy rate of 99.7% by distance. We describe, in detail, our experimental setup and results, as well as how we address the various off-nominal scenarios related to feature-poor environments, hardware failures, and estimation drift. An analysis on motion distortion and a comparison with a stereo-based system is also presented. We show that even without motion compensation, our system is robust enough to repeat long-range routes accurately and reliably.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lighting-invariant Visual Teach and Repeat Using Appearance-based Lidar


    Beteiligte:
    McManus, Colin (Autor:in) / Furgale, Paul (Autor:in) / Stenning, Braden (Autor:in) / Kleeman, L. (Autor:in)

    Erschienen in:

    Journal of Field Robotics ; 30 , 2 ; 254-287


    Erscheinungsdatum :

    2013


    Format / Umfang :

    34 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






    An efficient locally reactive controller for safe navigation in visual teach and repeat missions

    Mattamala, M / Chebrolu, N / Fallon, M | BASE | 2022

    Freier Zugriff

    Robust long-range teach-and-repeat in non-urban environments

    Ebert, Felix / Fassbender, Dennis / Naujoks, Benjamin et al. | IEEE | 2017


    Brightness appearance of automotive front lighting light sources - a series of visual experiments

    Bodrogi, Peter / Böll, Marvin / Schiller, Christoph et al. | Tema Archiv | 2009