Robust and Long-term Monocular Teach and Repeat Navigation using a Single-experience Map
Li Sun,Marwan Taher,Christopher Wild,Cheng Zhao,Yu Zhang,Filip Majer,Zhi Yan,Tomáš Krajník,Tony Prescott,Tom Duckett,Li Sun,Marwan Taher,Christopher Wild,Cheng Zhao,Yu Zhang,Filip Majer,Zhi Yan,Tomáš Krajník,Tony Prescott,Tom Duckett
This paper presents a robust monocular visual teach-and-repeat (VT&R) navigation system for long-term operation in outdoor environments. The approach leverages deep-learned descriptors to deal with the high illumination variance of the real world. In particular, a tailored self-supervised descriptor, DarkPoint, is proposed for autonomous navigation in outdoor environments. We seamlessly integrate ...
