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首页> 外文会议>Conference on Computer and Robot Vision >Eye on the Sky: An Upward-Looking Monocular Teach-and-Repeat System for Indoor Environments
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Eye on the Sky: An Upward-Looking Monocular Teach-and-Repeat System for Indoor Environments

机译：仰望天空：面向室内环境的向上看单眼示教重复系统

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摘要

Visual Teach and Repeat (VT&R) allows a robotic vehicle to navigate autonomously along a network of paths in the presence of illumination and scene changes. Traditionally, the system uses a stereo camera as the primary sensor for triangulating visual landmarks and often operates in highly textured outdoor environments. In this paper, we modify the VT&R system to use a monocular pipeline under the same framework, but also target indoor operation as a demonstration of a low-cost VT&R solution for warehouse logistics in a visually difficult environment. Unlike previous monocular VT&R solutions, we make no assumptions about the nature of the scene (e.g., local ground planarity). This allows the system to be readily deployable on more vehicles in a wider range of environments. To test the system, and motivated by a warehouse navigation application, an upward pointing camera is mounted on a Clearpath Husky ground vehicle. We demonstrate the vehicle is able to navigate with a 99.6% autonomy rate using such a system during 1.1 kilometers of driving, with an average scene depth that varies from 8-16 meters. The cross-track deviation from the taught path is less than 0.5 meters over 90% of the path, reaching a maximum of 0.85 meters and an average of 0.26 meters.
机译：视觉示教和重复（VT＆R）允许机器人车辆在存在照明和场景变化的情况下沿着路径网络自主导航。传统上，该系统使用立体摄像机作为主要传感器，用于对视觉地标进行三角测量，并且通常在纹理丰富的室外环境中运行。在本文中，我们将VT＆R系统修改为在相同框架下使用单目管道，但也将室内操作作为目标，以演示在视觉困难的环境中针对仓库物流的低成本VT＆R解决方案。与以前的单目VT＆R解决方案不同，我们不对场景的性质（例如局部地面平整度）进行任何假设。这使得该系统可以轻松地部署在更广泛的环境中的更多车辆上。为了测试系统，并受仓库导航应用程序的激励，将向上指向的摄像头安装在Clearpath Husky地面车辆上。我们证明了使用这种系统，车辆在1.1公里的行驶中能够以99.6％的自主性进行导航，平均景深在8至16米之间。与示教路径的跨轨偏离在路径的90％范围内小于0.5米，最大为0.85米，平均为0.26米。

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