Monocular Teach-and-Repeat Navigation using a Deep Steering Network with Scale Estimation
Cheng Zhao,Li Sun,Tomáš Krajník,Tom Duckett,Zhi Yan,Cheng Zhao,Li Sun,Tomáš Krajník,Tom Duckett,Zhi Yan
This paper proposes a novel monocular teach-and-repeat navigation system with the capability of scale awareness, i.e. the absolute distance between observation and goal images. It decomposes the navigation task into a sequence of visual servoing sub-tasks to approach consecutive goal/node images in a topological map. To be specific, a novel hybrid model, named deep steering network is proposed to ...
