Accurate and Robust Teach and Repeat Navigation by Visual Place Recognition: A CNN Approach
Luis G. Camara,Tomáš Pivoňka,Martin Jílek,Carl Gäbert,Karel Košnar,Libor Přeučil,Luis G. Camara,Tomáš Pivoňka,Martin Jílek,Carl Gäbert,Karel Košnar,Libor Přeučil
We propose a novel teach-and-repeat navigation system, SSM-Nav, which is based on the output of the recently introduced SSM visual place recognition methodology. During the teach phase, a teleoperated wheeled robot stores in a database features of images taken along an arbitrary route. During the repeat phase or navigation, a CNN-based comparison of each captured image is performed against the dat...
