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Visual-inertial teach and repeat.
- Source :
-
Robotics & Autonomous Systems . Sep2020, Vol. 131, pN.PAG-N.PAG. 1p. - Publication Year :
- 2020
-
Abstract
- Teach and Repeat (T&R) refers to the technology that allows a robot to autonomously follow a previously traversed route, in a natural scene and using only its onboard sensors. In this paper we present a Visual-Inertial Teach and Repeat (VI-T&R) algorithm that uses stereo and inertial data and targets Unmanned Aerial Vehicles with limited on-board computational resources. We propose a tightly-coupled relative formulation of the visual-inertial constraints that is tailored to the T&R application. In order to achieve real-time operation on limited hardware, we reduce the problem to motion-only visual-inertial Bundle Adjustment. In the repeat stage, we detail how to generate a trajectory and smoothly follow it with a constantly changing relative frame. The proposed method is validated in simulated environments, using real sensor data from the public EuRoC dataset, and using our own robotic setup and closed-loop control. Our experimental results demonstrate high accuracy and real-time performance both on a standard desktop system and on a low-cost Odroid X-U4 embedded computer. • This paper proposes a visual-inertial teach and replay navigation method for unmanned aerial vehicles. • The basis of the method is a tightly-coupled visual-inertial odometry under a relative formulation. • We achieve real-time operation even on a resource-constrained hardware platform such as Odroid X-U4. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 131
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 144893780
- Full Text :
- https://doi.org/10.1016/j.robot.2020.103577