Robust Image Alignment for Outdoor Teach-and-Repeat Navigation
2021 European Conference on Mobile Robots (ECMR)(2021)
Abstract
Visual Teach-and-Repeat robot navigation suffers from environmental changes over time, and it struggles in real-world long-term deployments. We propose a robust robot bearing correction method based on traditional principles aided by exploiting the abstraction from higher layers of widely available pre-trained Convolutional Neural Networks (CNNs). Our method applies a two-dimensional Discrete Fast...
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Key words
robust image alignment,teach-and-repeat
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