局所地面平面性を利用した単眼ビジュアルティーチ＆リピート
Monocular Visual Teach and Repeat Aided by Local Ground Planarity
地面を平面と仮定しカメラの車体に対する既知の位置・姿勢から絶対スケールを復元することで、単眼カメラのみでキロメートル規模の経路をセンチメートル精度で再走行できるVT&Rシステムを提案した。
著者: Lee Clement, Jonathan Kelly, Timothy D. Barfoot
分類: cs.RO
原文アブストラクト
Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically rely on 3D sensors such as stereo cameras for mapping and localization, but many mobile robots are equipped with only 2D monocular vision for tasks such as teleoperated bomb disposal. While simultaneous localization and mapping (SLAM) algorithms exist that can recover 3D structure and motion from monocular images, the scale ambiguity inherent in these methods complicates the estimation and control of lateral path-tracking error, which is essential for achieving high-accuracy path following. In this paper, we propose a monocular vision pipeline that enables kilometre-scale route repetition with centimetre-level accuracy by approximating the ground surface near the vehicle as planar (with some uncertainty) and recovering absolute scale from the known position and orientation of the camera relative to the vehicle. This system provides added value to many existing robots by allowing for high-accuracy autonomous route repetition with a simple software upgrade and no additional sensors. We validate our system over 4.3 km of autonomous navigation and demonstrate accuracy on par with the conventional stereo pipeline, even in highly non-planar terrain.
