NDLI: Exploiting Reusable Paths in Mobile Robotics: Benefits and Challenges for Long-term Autonomy

Content Provider	IEEE Xplore Digital Library
Author	Barfoot, T.D. Stenning, B. Furgale, P. McManus, C.
Copyright Year	2012
Abstract	Visual-teach-and-repeat (VT&R) systems have proven extremely useful for practical robot autonomy where the global positioning system is either unavailable or unreliable, examples include tramming for underground mining using a planar laser scanner as well as a return-to-lander function for planetary exploration using a stereo-or laser-based camera. By embedding local appearance/metric information along an arbitrarily long path, it becomes possible to re-drive the path without the need for a single privileged coordinate frame and using only modest computational resources. For a certain class of long-term autonomy problems (e.g., repeatable long-range driving), VT&R appears to offer a simple yet scalable solution. Beyond single paths, we envision that networks of reusable paths could be established and shared from one robot to another to enable practical tasks such as surveillance, delivery (e.g., mail, hospitals, factories, warehouses), worksite operations (e.g., construction, mining), and autonomous roadways. However, for lifelong operations on reusable paths, robustness to a variety of environmental changes, both transient and permanent, is required. In this paper, we relate our experiences and lessons learned with the three above-mentioned implementations of VT&R systems. Based on this, we enumerate both the benefits and challenges of reusable paths that we see moving forwards. We discuss one such challenge, lighting-invariance, in detail and present our progess in overcoming it.
Starting Page	388
Ending Page	395
File Size	4927562
Page Count	8
File Format	PDF
ISBN	9781467312714
DOI	10.1109/CRV.2012.58
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Simultaneous localization and mapping Robot kinematics Lasers Lighting manifold maps reusable paths relative coordinates teach and repeat Mobile robots metric-topological maps
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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