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octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{"location":"navbar","action":"blog","context":"product","tag":"link","label":"blog_link_product_navbar"}" href="https://github.blog"> Blog <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> </ul> </div> </div> </div> </li> <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item"> <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false"> Solutions <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1"> <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path> </svg> </button> <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 d-lg-flex flex-wrap dropdown-menu-wide"> <div class="HeaderMenu-column px-lg-4 border-lg-right mb-4 mb-lg-0 pr-lg-7"> <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 pb-lg-3 mb-3 mb-lg-0"> <span class="d-block h4 color-fg-default my-1" id="solutions-by-company-size-heading">By company size</span> <ul class="list-style-none f5" aria-labelledby="solutions-by-company-size-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"enterprises","context":"solutions","tag":"link","label":"enterprises_link_solutions_navbar"}" href="https://github.com/enterprise"> Enterprises </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"small_and_medium_teams","context":"solutions","tag":"link","label":"small_and_medium_teams_link_solutions_navbar"}" href="https://github.com/team"> Small and medium teams </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"startups","context":"solutions","tag":"link","label":"startups_link_solutions_navbar"}" href="https://github.com/enterprise/startups"> Startups </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"nonprofits","context":"solutions","tag":"link","label":"nonprofits_link_solutions_navbar"}" href="/solutions/industry/nonprofits"> Nonprofits </a></li> </ul> </div> <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0"> <span class="d-block h4 color-fg-default my-1" id="solutions-by-use-case-heading">By use case</span> <ul class="list-style-none f5" aria-labelledby="solutions-by-use-case-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"devsecops","context":"solutions","tag":"link","label":"devsecops_link_solutions_navbar"}" href="/solutions/use-case/devsecops"> DevSecOps </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"devops","context":"solutions","tag":"link","label":"devops_link_solutions_navbar"}" href="/solutions/use-case/devops"> DevOps </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"ci_cd","context":"solutions","tag":"link","label":"ci_cd_link_solutions_navbar"}" href="/solutions/use-case/ci-cd"> CI/CD </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"view_all_use_cases","context":"solutions","tag":"link","label":"view_all_use_cases_link_solutions_navbar"}" href="/solutions/use-case"> View all use cases </a></li> </ul> </div> </div> <div class="HeaderMenu-column px-lg-4"> <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0"> <span class="d-block h4 color-fg-default my-1" id="solutions-by-industry-heading">By industry</span> <ul class="list-style-none f5" aria-labelledby="solutions-by-industry-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"healthcare","context":"solutions","tag":"link","label":"healthcare_link_solutions_navbar"}" href="/solutions/industry/healthcare"> Healthcare </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"financial_services","context":"solutions","tag":"link","label":"financial_services_link_solutions_navbar"}" href="/solutions/industry/financial-services"> Financial services </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"manufacturing","context":"solutions","tag":"link","label":"manufacturing_link_solutions_navbar"}" href="/solutions/industry/manufacturing"> Manufacturing </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"government","context":"solutions","tag":"link","label":"government_link_solutions_navbar"}" href="/solutions/industry/government"> Government </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"view_all_industries","context":"solutions","tag":"link","label":"view_all_industries_link_solutions_navbar"}" href="/solutions/industry"> View all industries </a></li> </ul> </div> </div> <div class="HeaderMenu-trailing-link rounded-bottom-2 flex-shrink-0 mt-lg-4 px-lg-4 py-4 py-lg-3 f5 text-semibold"> <a href="/solutions"> View all solutions <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-right HeaderMenu-trailing-link-icon"> <path d="M6.22 3.22a.75.75 0 0 1 1.06 0l4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.751.751 0 0 1-1.042-.018.751.751 0 0 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d-lg-flex flex-wrap dropdown-menu-wide"> <div class="HeaderMenu-column px-lg-4 border-lg-right mb-4 mb-lg-0 pr-lg-7"> <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0"> <span class="d-block h4 color-fg-default my-1" id="resources-topics-heading">Topics</span> <ul class="list-style-none f5" aria-labelledby="resources-topics-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"ai","context":"resources","tag":"link","label":"ai_link_resources_navbar"}" href="/resources/articles/ai"> AI </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"devops","context":"resources","tag":"link","label":"devops_link_resources_navbar"}" href="/resources/articles/devops"> DevOps </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"security","context":"resources","tag":"link","label":"security_link_resources_navbar"}" href="/resources/articles/security"> Security </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"software_development","context":"resources","tag":"link","label":"software_development_link_resources_navbar"}" href="/resources/articles/software-development"> Software Development </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"view_all","context":"resources","tag":"link","label":"view_all_link_resources_navbar"}" href="/resources/articles"> View all </a></li> </ul> </div> </div> <div class="HeaderMenu-column px-lg-4"> <div class="border-bottom pb-3 pb-lg-0 border-lg-bottom-0 border-bottom-0"> <span class="d-block h4 color-fg-default my-1" id="resources-explore-heading">Explore</span> <ul class="list-style-none f5" aria-labelledby="resources-explore-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{"location":"navbar","action":"learning_pathways","context":"resources","tag":"link","label":"learning_pathways_link_resources_navbar"}" href="https://resources.github.com/learn/pathways"> Learning Pathways <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{"location":"navbar","action":"events_amp_webinars","context":"resources","tag":"link","label":"events_amp_webinars_link_resources_navbar"}" href="https://resources.github.com"> Events & Webinars <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"ebooks_amp_whitepapers","context":"resources","tag":"link","label":"ebooks_amp_whitepapers_link_resources_navbar"}" href="https://github.com/resources/whitepapers"> Ebooks & Whitepapers </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"customer_stories","context":"resources","tag":"link","label":"customer_stories_link_resources_navbar"}" href="https://github.com/customer-stories"> Customer Stories </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary Link--external" target="_blank" data-analytics-event="{"location":"navbar","action":"partners","context":"resources","tag":"link","label":"partners_link_resources_navbar"}" href="https://partner.github.com"> Partners <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-link-external HeaderMenu-external-icon color-fg-subtle"> <path d="M3.75 2h3.5a.75.75 0 0 1 0 1.5h-3.5a.25.25 0 0 0-.25.25v8.5c0 .138.112.25.25.25h8.5a.25.25 0 0 0 .25-.25v-3.5a.75.75 0 0 1 1.5 0v3.5A1.75 1.75 0 0 1 12.25 14h-8.5A1.75 1.75 0 0 1 2 12.25v-8.5C2 2.784 2.784 2 3.75 2Zm6.854-1h4.146a.25.25 0 0 1 .25.25v4.146a.25.25 0 0 1-.427.177L13.03 4.03 9.28 7.78a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042l3.75-3.75-1.543-1.543A.25.25 0 0 1 10.604 1Z"></path> </svg> </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"executive_insights","context":"resources","tag":"link","label":"executive_insights_link_resources_navbar"}" href="https://github.com/solutions/executive-insights"> Executive Insights </a></li> </ul> </div> </div> </div> </li> <li class="HeaderMenu-item position-relative flex-wrap flex-justify-between flex-items-center d-block d-lg-flex flex-lg-nowrap flex-lg-items-center js-details-container js-header-menu-item"> <button type="button" class="HeaderMenu-link border-0 width-full width-lg-auto px-0 px-lg-2 py-lg-2 no-wrap d-flex flex-items-center flex-justify-between js-details-target" aria-expanded="false"> Open Source <svg opacity="0.5" aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-chevron-down HeaderMenu-icon ml-1"> <path d="M12.78 5.22a.749.749 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.06 0L3.22 6.28a.749.749 0 1 1 1.06-1.06L8 8.939l3.72-3.719a.749.749 0 0 1 1.06 0Z"></path> </svg> </button> <div class="HeaderMenu-dropdown dropdown-menu rounded m-0 p-0 pt-2 pt-lg-4 position-relative position-lg-absolute left-0 left-lg-n3 pb-2 pb-lg-4 px-lg-4"> <div class="HeaderMenu-column"> <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3"> <ul class="list-style-none f5" > <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{"location":"navbar","action":"github_sponsors","context":"open_source","tag":"link","label":"github_sponsors_link_open_source_navbar"}" href="/sponsors"> <div> <div class="color-fg-default h4">GitHub Sponsors</div> Fund open source developers </div> </a></li> </ul> </div> <div class="border-bottom pb-3 pb-lg-0 pb-lg-3 mb-3 mb-lg-0 mb-lg-3"> <ul class="list-style-none f5" > <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary d-flex flex-items-center Link--has-description" data-analytics-event="{"location":"navbar","action":"the_readme_project","context":"open_source","tag":"link","label":"the_readme_project_link_open_source_navbar"}" href="https://github.com/readme"> <div> <div class="color-fg-default h4">The ReadME Project</div> GitHub community articles </div> </a></li> </ul> </div> <div class="border-bottom pb-3 pb-lg-0 border-bottom-0"> <span class="d-block h4 color-fg-default my-1" id="open-source-repositories-heading">Repositories</span> <ul class="list-style-none f5" aria-labelledby="open-source-repositories-heading"> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" data-analytics-event="{"location":"navbar","action":"topics","context":"open_source","tag":"link","label":"topics_link_open_source_navbar"}" href="https://github.com/topics"> Topics </a></li> <li> <a class="HeaderMenu-dropdown-link d-block no-underline position-relative py-2 Link--secondary" 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href="https://docs.github.com/search-github/github-code-search/understanding-github-code-search-syntax" data-view-component="true" class="Link color-fg-accent text-normal ml-2">Search syntax tips</a> <div class="d-flex flex-1"></div> </div> </div> </div> </div> </modal-dialog></div> </div> <div data-action="click:qbsearch-input#retract" class="dark-backdrop position-fixed" hidden data-target="qbsearch-input.darkBackdrop"></div> <div class="color-fg-default"> <dialog-helper> <dialog data-target="qbsearch-input.feedbackDialog" data-action="close:qbsearch-input#handleDialogClose cancel:qbsearch-input#handleDialogClose" id="feedback-dialog" aria-modal="true" aria-labelledby="feedback-dialog-title" aria-describedby="feedback-dialog-description" data-view-component="true" class="Overlay Overlay-whenNarrow Overlay--size-medium Overlay--motion-scaleFade Overlay--disableScroll"> <div data-view-component="true" class="Overlay-header"> <div class="Overlay-headerContentWrap"> <div 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method="post"><input type="hidden" data-csrf="true" name="authenticity_token" value="VxTNhf7lJPyd2sosdu6LWoeO/qTsLs1bRsKXSGIB/zxOkYkcp8vk/aycIGfoPaJac/i8woQKtUMTkJqlusk8Ag==" /> <p>We read every piece of feedback, and take your input very seriously.</p> <textarea name="feedback" class="form-control width-full mb-2" style="height: 120px" id="feedback"></textarea> <input name="include_email" id="include_email" aria-label="Include my email address so I can be contacted" class="form-control mr-2" type="checkbox"> <label for="include_email" style="font-weight: normal">Include my email address so I can be contacted</label> </form></div> </scrollable-region> <div data-view-component="true" class="Overlay-footer Overlay-footer--alignEnd"> <button data-close-dialog-id="feedback-dialog" type="button" data-view-component="true" class="btn"> Cancel </button> <button form="code-search-feedback-form" data-action="click:qbsearch-input#submitFeedback" type="submit" data-view-component="true" class="btn-primary btn"> Submit feedback </button> </div> </dialog></dialog-helper> <custom-scopes data-target="qbsearch-input.customScopesManager"> <dialog-helper> <dialog data-target="custom-scopes.customScopesModalDialog" data-action="close:qbsearch-input#handleDialogClose cancel:qbsearch-input#handleDialogClose" id="custom-scopes-dialog" aria-modal="true" aria-labelledby="custom-scopes-dialog-title" aria-describedby="custom-scopes-dialog-description" data-view-component="true" class="Overlay Overlay-whenNarrow Overlay--size-medium Overlay--motion-scaleFade Overlay--disableScroll"> <div data-view-component="true" class="Overlay-header Overlay-header--divided"> <div class="Overlay-headerContentWrap"> <div class="Overlay-titleWrap"> <h1 class="Overlay-title " id="custom-scopes-dialog-title"> Saved searches </h1> <h2 id="custom-scopes-dialog-description" class="Overlay-description">Use saved searches to filter your results more quickly</h2> </div> <div class="Overlay-actionWrap"> 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Robust Bio-inspired Teach and Repeat Navigation\u003c/h1\u003e\u003ca id=\"user-content-fast-and-robust-bio-inspired-teach-and-repeat-navigation\" class=\"anchor\" aria-label=\"Permalink: Fast and Robust Bio-inspired Teach and Repeat Navigation\" href=\"#fast-and-robust-bio-inspired-teach-and-repeat-navigation\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003e\u003ca href=\"https://arxiv.org/abs/2010.11326\" rel=\"nofollow\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/34c4164cb16fc9e7a4b19464ba9dbe8d8b1ba323ad277d363b13f92f2b7c48a5/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f61725869762d323031302e31313332362d612e7376673f7374796c653d666c61742d737175617265\" alt=\"arXiv\" data-canonical-src=\"https://img.shields.io/badge/arXiv-2010.11326-a.svg?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"https://doi.org/10.1109/IROS51168.2021.9636334\" rel=\"nofollow\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/b3142d0d0b40f603b6382f4a57abbd09b908a2ef4fa99deafca5ba1d1510df8d/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f444f492d31302e313130392f49524f5335313136382e323032312e393633363333342d612e7376673f7374796c653d666c61742d737175617265\" alt=\"arXiv\" data-canonical-src=\"https://img.shields.io/badge/DOI-10.1109/IROS51168.2021.9636334-a.svg?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"/QVPR/teach-repeat/blob/master/LICENSE\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/0fff490b85db849684ef79dc548392a0769a8e7d01e1a0c1c3ec6b6cd48d5ed9/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f6c6963656e73652f515650522f74656163682d7265706561742e7376673f7374796c653d666c61742d737175617265\" alt=\"License: BSD-2-Clause\" data-canonical-src=\"https://img.shields.io/github/license/QVPR/teach-repeat.svg?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"https://github.com/Tobias-Fischer/ensemble-event-vpr/stargazers\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/4fafbbbeb2ffaab14e7c898278c838da67f750a2e8ad912a06ebc5639c945dbd/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f73746172732f515650522f74656163682d7265706561742e7376673f7374796c653d666c61742d737175617265\" alt=\"stars\" data-canonical-src=\"https://img.shields.io/github/stars/QVPR/teach-repeat.svg?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"https://github.com/QVPR/teach-repeat/issues\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/3ded5e8ad7e910b1e0a284eeafd4e3588166c5bf6d6990dd57d0c0e45a0d08d7/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f6973737565732f515650522f74656163682d7265706561743f7374796c653d666c61742d737175617265\" alt=\"GitHub issues\" data-canonical-src=\"https://img.shields.io/github/issues/QVPR/teach-repeat?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"/QVPR/teach-repeat/blob/master/README.md\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/92428d8322269c8d9b8d1a092f5b12cbc1cd58de21b5d4977189a99191e16420/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f7265706f2d73697a652f515650522f74656163682d7265706561742e7376673f7374796c653d666c61742d737175617265\" alt=\"GitHub repo size\" data-canonical-src=\"https://img.shields.io/github/repo-size/QVPR/teach-repeat.svg?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\n\u003ca href=\"https://qcr.github.io\" rel=\"nofollow\"\u003e\u003cimg src=\"https://camo.githubusercontent.com/f0d65124aea3e1807712e6a94ca5fbd4d1a10c8a9766b2fa7f0843630ef4f3e9/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f636f6c6c656374696f6e2d515554253230526f626f746963732d2532333034336437313f7374796c653d666c61742d737175617265\" alt=\"QUT Centre for Robotics Open Source\" data-canonical-src=\"https://img.shields.io/badge/collection-QUT%20Robotics-%23043d71?style=flat-square\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cp dir=\"auto\"\u003eThis repository contains code for a low compute teach and repeat navigation approach which only requires monocular vision and wheel odometry. Teach the robot a route by teleoperation, then the robot will be able to repeat it - robust to lighting variation and moderate environmental changes. For full details see our \u003ca href=\"https://doi.org/10.1109/IROS51168.2021.9636334\" rel=\"nofollow\"\u003eIROS2021 paper\u003c/a\u003e, available on \u003ca href=\"https://arxiv.org/abs/2010.11326\" rel=\"nofollow\"\u003earXiv\u003c/a\u003e. You can view the conference presentation \u003ca href=\"https://qvpr.github.io/teach-repeat/\" rel=\"nofollow\"\u003ehere\u003c/a\u003e as well as other multimedia material and a full 550 metre outdoor run.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer\" href=\"/QVPR/teach-repeat/blob/master/assets/outdoor-run.gif\"\u003e\u003cimg src=\"/QVPR/teach-repeat/raw/master/assets/outdoor-run.gif\" alt=\"Overview of approach\" data-animated-image=\"\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eLicense and attribution\u003c/h2\u003e\u003ca id=\"user-content-license-and-attribution\" class=\"anchor\" aria-label=\"Permalink: License and attribution\" href=\"#license-and-attribution\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf you use the code in this repository, please cite \u003ca href=\"https://doi.org/10.1109/IROS51168.2021.9636334\" rel=\"nofollow\"\u003eour paper\u003c/a\u003e. The code is available under the \u003ca href=\"/QVPR/teach-repeat/blob/master/LICENSE\"\u003eBSD-2-Clause License\u003c/a\u003e.\u003c/p\u003e\n\u003cdiv class=\"highlight highlight-text-bibtex notranslate position-relative overflow-auto\" dir=\"auto\" data-snippet-clipboard-copy-content=\"@inproceedings{dallostoFastRobustBioinspired2021,\n title = {Fast and {{Robust Bio-inspired Teach}} and {{Repeat Navigation}}},\n booktitle = {2021 {{IEEE}}/{{RSJ International Conference}} on {{Intelligent Robots}} and {{Systems}} ({{IROS}})},\n author = {Dall'Osto, Dominic and Fischer, Tobias and Milford, Michael},\n year = {2021},\n month = sep,\n pages = {500--507},\n publisher = {{IEEE}},\n address = {{Prague, Czech Republic}},\n doi = {10.1109/IROS51168.2021.9636334},\n}\"\u003e\u003cpre\u003e\u003cspan class=\"pl-k\"\u003e@inproceedings\u003c/span\u003e{\u003cspan class=\"pl-en\"\u003edallostoFastRobustBioinspired2021\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003etitle\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eFast and {{Robust Bio-inspired Teach}} and {{Repeat Navigation}}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003ebooktitle\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2021 {{IEEE}}/{{RSJ International Conference}} on {{Intelligent Robots}} and {{Systems}} ({{IROS}})\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eauthor\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003eDall'Osto, Dominic and Fischer, Tobias and Milford, Michael\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eyear\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e2021\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003emonth\u003c/span\u003e = sep,\n \u003cspan class=\"pl-s\"\u003epages\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e500--507\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003epublisher\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{IEEE}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003eaddress\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e{Prague, Czech Republic}\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n \u003cspan class=\"pl-s\"\u003edoi\u003c/span\u003e = \u003cspan class=\"pl-s\"\u003e\u003cspan class=\"pl-pds\"\u003e{\u003c/span\u003e10.1109/IROS51168.2021.9636334\u003cspan class=\"pl-pds\"\u003e}\u003c/span\u003e\u003c/span\u003e,\n}\u003c/pre\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eSetup and use\u003c/h2\u003e\u003ca id=\"user-content-setup-and-use\" class=\"anchor\" aria-label=\"Permalink: Setup and use\" href=\"#setup-and-use\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eThis approach can be used with any mobile robot with a monocular camera and odometry source.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003eFor the teach run, run both the \u003ccode\u003edata_collect.py\u003c/code\u003e and \u003ccode\u003edata_save.py\u003c/code\u003e nodes. Teleoperate the robot along the desired route and the teach run (odometry poses and images) will be recorded to a specified folder.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003eFor the repeat run, use \u003ccode\u003eimage_matcher.py\u003c/code\u003e and \u003ccode\u003elocaliser.py\u003c/code\u003e. The localiser will publish \u003ccode\u003eGoal\u003c/code\u003e messages on the topic \u003ccode\u003egoal\u003c/code\u003e, containing a goal to navigate to in the robot's odometry frame. An example \u003ccode\u003edrive_to_pose_controller\u003c/code\u003e is used here, but can be replaced with another controller as required.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003eIn both cases, remap the \u003ccode\u003eodom\u003c/code\u003e and \u003ccode\u003eimage\u003c/code\u003e topics to those provided by the robot. Note, the published odometry must also contain an integrated pose estimate.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003eEssential parameters for these nodes are shown below. Other parameters exist to save additional diagnostic data, or to wait for a ready signal before starting - if the robot needs to run a setup procedure for example. These are shown in the nodes and example usage is shown in the provided launch files.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eGlobal parameters\u003c/h3\u003e\u003ca id=\"user-content-global-parameters\" class=\"anchor\" aria-label=\"Permalink: Global parameters\" href=\"#global-parameters\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth\u003eParameter\u003c/th\u003e\n\u003cth\u003eDescription\u003c/th\u003e\n\u003cth\u003eDefault Value\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003e/data_load_dir\u003c/td\u003e\n\u003ctd\u003edirectory in which the teach runs are saved\u003c/td\u003e\n\u003ctd\u003e~/miro/data\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/data_save_dir\u003c/td\u003e\n\u003ctd\u003edirectory in which to save the results of a repeat run\u003c/td\u003e\n\u003ctd\u003e~/miro/data/follow-straight_tests/5\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/image_resize_width\u003c/td\u003e\n\u003ctd\u003ewidth to resize images before comparison\u003c/td\u003e\n\u003ctd\u003e115\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/image_resize_height\u003c/td\u003e\n\u003ctd\u003eheight to resize images before comparison\u003c/td\u003e\n\u003ctd\u003e44\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/patch_size\u003c/td\u003e\n\u003ctd\u003epatch size to use for patch normalisation\u003c/td\u003e\n\u003ctd\u003e(9,9)\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/goal_pose_separation\u003c/td\u003e\n\u003ctd\u003edistance between goals, should match \u003ccode\u003e~distance_threshold\u003c/code\u003e in \u003ccode\u003edata_collect.py\u003c/code\u003e\u003c/td\u003e\n\u003ctd\u003e0.2\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/image_field_of_view_width_deg\u003c/td\u003e\n\u003ctd\u003ehorizontal field of view of images (degrees)\u003c/td\u003e\n\u003ctd\u003e175.2\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e/wait_for_ready\u003c/td\u003e\n\u003ctd\u003ewhether the localiser waits for a service signal 'ready_localiser' before starting, allowing robot initialisation\u003c/td\u003e\n\u003ctd\u003efalse\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eParameters for \u003ccode\u003edata_collect.py\u003c/code\u003e\u003c/h3\u003e\u003ca id=\"user-content-parameters-for-data_collectpy\" class=\"anchor\" aria-label=\"Permalink: Parameters for data_collect.py\" href=\"#parameters-for-data_collectpy\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth\u003eParameter\u003c/th\u003e\n\u003cth\u003eDescription\u003c/th\u003e\n\u003cth\u003eExample Value\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003e~distance_threshold\u003c/td\u003e\n\u003ctd\u003edistance (metres) travelled from the previous pose after which a new pose is stored in the teach map\u003c/td\u003e\n\u003ctd\u003e0.2\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~angle_threshold_deg\u003c/td\u003e\n\u003ctd\u003eangular distance (degrees) travelled from the previous pose after which a new pose is stored in the teach map\u003c/td\u003e\n\u003ctd\u003e15.0\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eParameters for \u003ccode\u003edata_save.py\u003c/code\u003e\u003c/h3\u003e\u003ca id=\"user-content-parameters-for-data_savepy\" class=\"anchor\" aria-label=\"Permalink: Parameters for data_save.py\" href=\"#parameters-for-data_savepy\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth\u003eParameter\u003c/th\u003e\n\u003cth\u003eDescription\u003c/th\u003e\n\u003cth\u003eExample Value\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003e~save_dir\u003c/td\u003e\n\u003ctd\u003edirectory in which to save the teach run\u003c/td\u003e\n\u003ctd\u003e~/miro/data\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~timestamp_folder\u003c/td\u003e\n\u003ctd\u003ewhether to timestamp the folder name of the teach run, so multiple runs can be performed without overwriting\u003c/td\u003e\n\u003ctd\u003etrue\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eParameters for \u003ccode\u003elocaliser.py\u003c/code\u003e\u003c/h3\u003e\u003ca id=\"user-content-parameters-for-localiserpy\" class=\"anchor\" aria-label=\"Permalink: Parameters for localiser.py\" href=\"#parameters-for-localiserpy\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cmarkdown-accessiblity-table\u003e\u003ctable\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth\u003eParameter\u003c/th\u003e\n\u003cth\u003eDescription\u003c/th\u003e\n\u003cth\u003eDefault Value\u003c/th\u003e\n\u003c/tr\u003e\n\u003c/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003e~rotation_correction_gain\u003c/td\u003e\n\u003ctd\u003eproportional gain term to use for rotation corrections, \u003cmath-renderer class=\"js-inline-math\" style=\"display: inline-block\" data-static-url=\"https://github.githubassets.com/static\" data-run-id=\"4940c6272f814dd315d4628373f5b314\"\u003e$K_\\theta$\u003c/math-renderer\u003e, shouldn't need to be tuned\u003c/td\u003e\n\u003ctd\u003e0.01\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~path_correction_gain\u003c/td\u003e\n\u003ctd\u003eproportional gain term to use for along-path corrections, \u003cmath-renderer class=\"js-inline-math\" style=\"display: inline-block\" data-static-url=\"https://github.githubassets.com/static\" data-run-id=\"4940c6272f814dd315d4628373f5b314\"\u003e$K_p$\u003c/math-renderer\u003e, shouldn't need to be tuned\u003c/td\u003e\n\u003ctd\u003e0.01\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~stop_at_end\u003c/td\u003e\n\u003ctd\u003ewhether the robot should stop at the end of the route, otherwise it assumes the route is circular and restarts from the beginning\u003c/td\u003e\n\u003ctd\u003etrue\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~discrete-correction\u003c/td\u003e\n\u003ctd\u003ereduce compute by only performing a correction at each goal pose, not continually\u003c/td\u003e\n\u003ctd\u003efalse\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~search-range\u003c/td\u003e\n\u003ctd\u003ehow many teach images to search either side of the current to perform along-path correction\u003c/td\u003e\n\u003ctd\u003e1\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~global_localisation_init\u003c/td\u003e\n\u003ctd\u003ewhen initialising, find the closest matching teach image to the current and start the route from there, otherwise start at the first goal\u003c/td\u003e\n\u003ctd\u003efalse\u003c/td\u003e\n\u003c/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e~min_init_correlation\u003c/td\u003e\n\u003ctd\u003eminimum correlation with a teach image at initialisation, otherwise the robot thinks it's not on the path and doesn't start repeating\u003c/td\u003e\n\u003ctd\u003e0.0\u003c/td\u003e\n\u003c/tr\u003e\n\u003c/tbody\u003e\n\u003c/table\u003e\u003c/markdown-accessiblity-table\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eOverview of approach\u003c/h2\u003e\u003ca id=\"user-content-overview-of-approach\" class=\"anchor\" aria-label=\"Permalink: Overview of approach\" href=\"#overview-of-approach\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eTeach run\u003c/h3\u003e\u003ca id=\"user-content-teach-run\" class=\"anchor\" aria-label=\"Permalink: Teach run\" href=\"#teach-run\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eFirst the robot needs to be taught a route via teleoperation. At regular distance intervals along the path the dead-reckoning position and and image will be saved, resulting in a topometric map of the route. Images are patch normalised to increase robustness to lighting variation.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer\" href=\"/QVPR/teach-repeat/blob/master/assets/teach-run.gif\"\u003e\u003cimg src=\"/QVPR/teach-repeat/raw/master/assets/teach-run.gif\" alt=\"Teach run visualisation\" data-animated-image=\"\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRepeat run\u003c/h3\u003e\u003ca id=\"user-content-repeat-run\" class=\"anchor\" aria-label=\"Permalink: Repeat run\" href=\"#repeat-run\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eHaving learnt a route, the robot can robustly repeat it. The robot initially follows the sequence of odometry poses stored during the teach run, but errors accumulate in this approach over time. Images are compared between the teach and repeat routes to make corrections to the route.\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch4 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eCorrection overview\u003c/h4\u003e\u003ca id=\"user-content-correction-overview\" class=\"anchor\" aria-label=\"Permalink: Correction overview\" href=\"#correction-overview\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eBoth rotational and lateral path errors result in horizontal image offsets that can't be distinguished, but this is not a problem because both require the same correction response. However, moving along the path can also horizontal image offsets. These must be accounted for by interpolating between the previous and next goal images.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer\" href=\"/QVPR/teach-repeat/blob/master/assets/correction-ambiguity.gif\"\u003e\u003cimg src=\"/QVPR/teach-repeat/raw/master/assets/correction-ambiguity.gif\" alt=\"Correction ambiguity overview\" data-animated-image=\"\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch4 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eOrientation correction\u003c/h4\u003e\u003ca id=\"user-content-orientation-correction\" class=\"anchor\" aria-label=\"Permalink: Orientation correction\" href=\"#orientation-correction\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eIf an orientation error is detected by comparing teach and repeat images, an associated path correction is performed, modulated by a constant gain factor. This correction causes the robot to steer back onto the path.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer\" href=\"/QVPR/teach-repeat/blob/master/assets/orientation-correction.gif\"\u003e\u003cimg src=\"/QVPR/teach-repeat/raw/master/assets/orientation-correction.gif\" alt=\"Orientation correction\" data-animated-image=\"\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch4 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eAlong-path correction\u003c/h4\u003e\u003ca id=\"user-content-along-path-correction\" class=\"anchor\" aria-label=\"Permalink: Along-path correction\" href=\"#along-path-correction\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cp dir=\"auto\"\u003eRepeat images are compared to teach images within a certain search range of the current goal. If correlation values are stronger to images ahead or behind the robot's current estimated position, and along-path correction is performed. In this case, the goal is pulled towards the robot so it will be reached faster, allowing the estimated position to \"catch up\" to the real position.\u003c/p\u003e\n\u003cp dir=\"auto\"\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer\" href=\"/QVPR/teach-repeat/blob/master/assets/along-path-correction.gif\"\u003e\u003cimg src=\"/QVPR/teach-repeat/raw/master/assets/along-path-correction.gif\" alt=\"Along-path correction\" data-animated-image=\"\" style=\"max-width: 100%;\"\u003e\u003c/a\u003e\u003c/p\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch2 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eExamples of running teach and repeat for the robots we used\u003c/h2\u003e\u003ca id=\"user-content-examples-of-running-teach-and-repeat-for-the-robots-we-used\" class=\"anchor\" aria-label=\"Permalink: Examples of running teach and repeat for the robots we used\" href=\"#examples-of-running-teach-and-repeat-for-the-robots-we-used\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRunning teach on Miro\u003c/h3\u003e\u003ca id=\"user-content-running-teach-on-miro\" class=\"anchor\" aria-label=\"Permalink: Running teach on Miro\" href=\"#running-teach-on-miro\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cul dir=\"auto\"\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch teach_repeat data_collection_miro.launch\u003c/code\u003e\u003c/li\u003e\n\u003c/ul\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRunning repeat on Miro\u003c/h3\u003e\u003ca id=\"user-content-running-repeat-on-miro\" class=\"anchor\" aria-label=\"Permalink: Running repeat on Miro\" href=\"#running-repeat-on-miro\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cul dir=\"auto\"\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch teach_repeat data_matching_miro.launch\u003c/code\u003e\u003c/li\u003e\n\u003c/ul\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRunning teach on Jackal\u003c/h3\u003e\u003ca id=\"user-content-running-teach-on-jackal\" class=\"anchor\" aria-label=\"Permalink: Running teach on Jackal\" href=\"#running-teach-on-jackal\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cul dir=\"auto\"\u003e\n\u003cli\u003e\u003ccode\u003erosnode kill twist_mux\u003c/code\u003e (optional, only required for comparison with bearnav)\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch slam_toolbox localization.launch\u003c/code\u003e (optional, only required for quantitative analysis)\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch stroll_bearnav mapping-core-jackal.launch\u003c/code\u003e (optional, only required for comparison with bearnav)\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch stroll_bearnav mapping-gui-jackal.launch\u003c/code\u003e (optional, only required for comparison with bearnav)\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch teach_repeat data_collection_jackal.launch\u003c/code\u003e\u003c/li\u003e\n\u003c/ul\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRunning repeat on Jackal\u003c/h3\u003e\u003ca id=\"user-content-running-repeat-on-jackal\" class=\"anchor\" aria-label=\"Permalink: Running repeat on Jackal\" href=\"#running-repeat-on-jackal\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cul dir=\"auto\"\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch slam_toolbox localization.launch\u003c/code\u003e (optional, only required for quantitative analysis)\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch teach_repeat data_matching_jackal.launch\u003c/code\u003e\u003c/li\u003e\n\u003c/ul\u003e\n\u003cdiv class=\"markdown-heading\" dir=\"auto\"\u003e\u003ch3 tabindex=\"-1\" class=\"heading-element\" dir=\"auto\"\u003eRunning Bearnav repeat on Jackal\u003c/h3\u003e\u003ca id=\"user-content-running-bearnav-repeat-on-jackal\" class=\"anchor\" aria-label=\"Permalink: Running Bearnav repeat on Jackal\" href=\"#running-bearnav-repeat-on-jackal\"\u003e\u003csvg class=\"octicon octicon-link\" viewBox=\"0 0 16 16\" version=\"1.1\" width=\"16\" height=\"16\" aria-hidden=\"true\"\u003e\u003cpath d=\"m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z\"\u003e\u003c/path\u003e\u003c/svg\u003e\u003c/a\u003e\u003c/div\u003e\n\u003cul dir=\"auto\"\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch slam_toolbox localization.launch\u003c/code\u003e\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch stroll_bearnav navigation-core-jackal.launch\u003c/code\u003e\u003c/li\u003e\n\u003cli\u003e\u003ccode\u003eroslaunch stroll_bearnav navigation-gui-jackal.launch\u003c/code\u003e\u003c/li\u003e\n\u003c/ul\u003e\n\u003c/article\u003e","loaded":true,"timedOut":false,"errorMessage":null,"headerInfo":{"toc":[{"level":1,"text":"Fast and Robust Bio-inspired Teach and Repeat Navigation","anchor":"fast-and-robust-bio-inspired-teach-and-repeat-navigation","htmlText":"Fast and Robust Bio-inspired Teach and Repeat Navigation"},{"level":2,"text":"License and attribution","anchor":"license-and-attribution","htmlText":"License and attribution"},{"level":2,"text":"Setup and use","anchor":"setup-and-use","htmlText":"Setup and use"},{"level":3,"text":"Global parameters","anchor":"global-parameters","htmlText":"Global parameters"},{"level":3,"text":"Parameters for data_collect.py","anchor":"parameters-for-data_collectpy","htmlText":"Parameters for data_collect.py"},{"level":3,"text":"Parameters for data_save.py","anchor":"parameters-for-data_savepy","htmlText":"Parameters for data_save.py"},{"level":3,"text":"Parameters for localiser.py","anchor":"parameters-for-localiserpy","htmlText":"Parameters for localiser.py"},{"level":2,"text":"Overview of approach","anchor":"overview-of-approach","htmlText":"Overview of approach"},{"level":3,"text":"Teach run","anchor":"teach-run","htmlText":"Teach run"},{"level":3,"text":"Repeat run","anchor":"repeat-run","htmlText":"Repeat run"},{"level":4,"text":"Correction overview","anchor":"correction-overview","htmlText":"Correction overview"},{"level":4,"text":"Orientation correction","anchor":"orientation-correction","htmlText":"Orientation correction"},{"level":4,"text":"Along-path correction","anchor":"along-path-correction","htmlText":"Along-path correction"},{"level":2,"text":"Examples of running teach and repeat for the robots we used","anchor":"examples-of-running-teach-and-repeat-for-the-robots-we-used","htmlText":"Examples of running teach and repeat for the robots we used"},{"level":3,"text":"Running teach on Miro","anchor":"running-teach-on-miro","htmlText":"Running teach on Miro"},{"level":3,"text":"Running repeat on Miro","anchor":"running-repeat-on-miro","htmlText":"Running repeat on Miro"},{"level":3,"text":"Running teach on Jackal","anchor":"running-teach-on-jackal","htmlText":"Running teach on Jackal"},{"level":3,"text":"Running repeat on Jackal","anchor":"running-repeat-on-jackal","htmlText":"Running repeat on Jackal"},{"level":3,"text":"Running Bearnav repeat on Jackal","anchor":"running-bearnav-repeat-on-jackal","htmlText":"Running Bearnav repeat on Jackal"}],"siteNavLoginPath":"/login?return_to=https%3A%2F%2Fgithub.com%2FQVPR%2Fteach-repeat"}},{"displayName":"LICENSE","repoName":"teach-repeat","refName":"master","path":"LICENSE","preferredFileType":"license","tabName":"BSD-2-Clause","richText":null,"loaded":false,"timedOut":false,"errorMessage":null,"headerInfo":{"toc":null,"siteNavLoginPath":"/login?return_to=https%3A%2F%2Fgithub.com%2FQVPR%2Fteach-repeat"}}],"overviewFilesProcessingTime":0}},"appPayload":{"helpUrl":"https://docs.github.com","findFileWorkerPath":"/assets-cdn/worker/find-file-worker-7d7eb7c71814.js","findInFileWorkerPath":"/assets-cdn/worker/find-in-file-worker-708ec8ade250.js","githubDevUrl":null,"enabled_features":{"copilot_workspace":null,"code_nav_ui_events":false,"overview_shared_code_dropdown_button":true,"react_blob_overlay":false,"accessible_code_button":true,"github_models_repo_integration":false}}}}</script> <div data-target="react-partial.reactRoot"><style data-styled="true" 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itemprop="text"><div class="markdown-heading" dir="auto"><h1 tabindex="-1" class="heading-element" dir="auto">Fast and Robust Bio-inspired Teach and Repeat Navigation</h1><a id="user-content-fast-and-robust-bio-inspired-teach-and-repeat-navigation" class="anchor" aria-label="Permalink: Fast and Robust Bio-inspired Teach and Repeat Navigation" href="#fast-and-robust-bio-inspired-teach-and-repeat-navigation"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 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data-canonical-src="https://img.shields.io/github/stars/QVPR/teach-repeat.svg?style=flat-square" style="max-width: 100%;"></a> <a href="https://github.com/QVPR/teach-repeat/issues"><img src="https://camo.githubusercontent.com/3ded5e8ad7e910b1e0a284eeafd4e3588166c5bf6d6990dd57d0c0e45a0d08d7/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f6973737565732f515650522f74656163682d7265706561743f7374796c653d666c61742d737175617265" alt="GitHub issues" data-canonical-src="https://img.shields.io/github/issues/QVPR/teach-repeat?style=flat-square" style="max-width: 100%;"></a> <a href="/QVPR/teach-repeat/blob/master/README.md"><img src="https://camo.githubusercontent.com/92428d8322269c8d9b8d1a092f5b12cbc1cd58de21b5d4977189a99191e16420/68747470733a2f2f696d672e736869656c64732e696f2f6769746875622f7265706f2d73697a652f515650522f74656163682d7265706561742e7376673f7374796c653d666c61742d737175617265" alt="GitHub repo size" data-canonical-src="https://img.shields.io/github/repo-size/QVPR/teach-repeat.svg?style=flat-square" style="max-width: 100%;"></a> <a href="https://qcr.github.io" rel="nofollow"><img src="https://camo.githubusercontent.com/f0d65124aea3e1807712e6a94ca5fbd4d1a10c8a9766b2fa7f0843630ef4f3e9/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f636f6c6c656374696f6e2d515554253230526f626f746963732d2532333034336437313f7374796c653d666c61742d737175617265" alt="QUT Centre for Robotics Open Source" data-canonical-src="https://img.shields.io/badge/collection-QUT%20Robotics-%23043d71?style=flat-square" style="max-width: 100%;"></a></p> <p dir="auto">This repository contains code for a low compute teach and repeat navigation approach which only requires monocular vision and wheel odometry. Teach the robot a route by teleoperation, then the robot will be able to repeat it - robust to lighting variation and moderate environmental changes. For full details see our <a href="https://doi.org/10.1109/IROS51168.2021.9636334" rel="nofollow">IROS2021 paper</a>, available on <a href="https://arxiv.org/abs/2010.11326" rel="nofollow">arXiv</a>. You can view the conference presentation <a href="https://qvpr.github.io/teach-repeat/" rel="nofollow">here</a> as well as other multimedia material and a full 550 metre outdoor run.</p> <p dir="auto"><a target="_blank" rel="noopener noreferrer" href="/QVPR/teach-repeat/blob/master/assets/outdoor-run.gif"><img src="/QVPR/teach-repeat/raw/master/assets/outdoor-run.gif" alt="Overview of approach" data-animated-image="" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">License and attribution</h2><a id="user-content-license-and-attribution" class="anchor" aria-label="Permalink: License and attribution" href="#license-and-attribution"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">If you use the code in this repository, please cite <a href="https://doi.org/10.1109/IROS51168.2021.9636334" rel="nofollow">our paper</a>. The code is available under the <a href="/QVPR/teach-repeat/blob/master/LICENSE">BSD-2-Clause License</a>.</p> <div class="highlight highlight-text-bibtex notranslate position-relative overflow-auto" dir="auto" data-snippet-clipboard-copy-content="@inproceedings{dallostoFastRobustBioinspired2021, title = {Fast and {{Robust Bio-inspired Teach}} and {{Repeat Navigation}}}, booktitle = {2021 {{IEEE}}/{{RSJ International Conference}} on {{Intelligent Robots}} and {{Systems}} ({{IROS}})}, author = {Dall'Osto, Dominic and Fischer, Tobias and Milford, Michael}, year = {2021}, month = sep, pages = {500--507}, publisher = {{IEEE}}, address = {{Prague, Czech Republic}}, doi = {10.1109/IROS51168.2021.9636334}, }"><pre><span class="pl-k">@inproceedings</span>{<span class="pl-en">dallostoFastRobustBioinspired2021</span>, <span class="pl-s">title</span> = <span class="pl-s"><span class="pl-pds">{</span>Fast and {{Robust Bio-inspired Teach}} and {{Repeat Navigation}}<span class="pl-pds">}</span></span>, <span class="pl-s">booktitle</span> = <span class="pl-s"><span class="pl-pds">{</span>2021 {{IEEE}}/{{RSJ International Conference}} on {{Intelligent Robots}} and {{Systems}} ({{IROS}})<span class="pl-pds">}</span></span>, <span class="pl-s">author</span> = <span class="pl-s"><span class="pl-pds">{</span>Dall'Osto, Dominic and Fischer, Tobias and Milford, Michael<span class="pl-pds">}</span></span>, <span class="pl-s">year</span> = <span class="pl-s"><span class="pl-pds">{</span>2021<span class="pl-pds">}</span></span>, <span class="pl-s">month</span> = sep, <span class="pl-s">pages</span> = <span class="pl-s"><span class="pl-pds">{</span>500--507<span class="pl-pds">}</span></span>, <span class="pl-s">publisher</span> = <span class="pl-s"><span class="pl-pds">{</span>{IEEE}<span class="pl-pds">}</span></span>, <span class="pl-s">address</span> = <span class="pl-s"><span class="pl-pds">{</span>{Prague, Czech Republic}<span class="pl-pds">}</span></span>, <span class="pl-s">doi</span> = <span class="pl-s"><span class="pl-pds">{</span>10.1109/IROS51168.2021.9636334<span class="pl-pds">}</span></span>, }</pre></div> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">Setup and use</h2><a id="user-content-setup-and-use" class="anchor" aria-label="Permalink: Setup and use" href="#setup-and-use"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">This approach can be used with any mobile robot with a monocular camera and odometry source.</p> <p dir="auto">For the teach run, run both the <code>data_collect.py</code> and <code>data_save.py</code> nodes. Teleoperate the robot along the desired route and the teach run (odometry poses and images) will be recorded to a specified folder.</p> <p dir="auto">For the repeat run, use <code>image_matcher.py</code> and <code>localiser.py</code>. The localiser will publish <code>Goal</code> messages on the topic <code>goal</code>, containing a goal to navigate to in the robot's odometry frame. An example <code>drive_to_pose_controller</code> is used here, but can be replaced with another controller as required.</p> <p dir="auto">In both cases, remap the <code>odom</code> and <code>image</code> topics to those provided by the robot. Note, the published odometry must also contain an integrated pose estimate.</p> <p dir="auto">Essential parameters for these nodes are shown below. Other parameters exist to save additional diagnostic data, or to wait for a ready signal before starting - if the robot needs to run a setup procedure for example. These are shown in the nodes and example usage is shown in the provided launch files.</p> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Global parameters</h3><a id="user-content-global-parameters" class="anchor" aria-label="Permalink: Global parameters" href="#global-parameters"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th>Parameter</th> <th>Description</th> <th>Default Value</th> </tr> </thead> <tbody> <tr> <td>/data_load_dir</td> <td>directory in which the teach runs are saved</td> <td>~/miro/data</td> </tr> <tr> <td>/data_save_dir</td> <td>directory in which to save the results of a repeat run</td> <td>~/miro/data/follow-straight_tests/5</td> </tr> <tr> <td>/image_resize_width</td> <td>width to resize images before comparison</td> <td>115</td> </tr> <tr> <td>/image_resize_height</td> <td>height to resize images before comparison</td> <td>44</td> </tr> <tr> <td>/patch_size</td> <td>patch size to use for patch normalisation</td> <td>(9,9)</td> </tr> <tr> <td>/goal_pose_separation</td> <td>distance between goals, should match <code>~distance_threshold</code> in <code>data_collect.py</code></td> <td>0.2</td> </tr> <tr> <td>/image_field_of_view_width_deg</td> <td>horizontal field of view of images (degrees)</td> <td>175.2</td> </tr> <tr> <td>/wait_for_ready</td> <td>whether the localiser waits for a service signal 'ready_localiser' before starting, allowing robot initialisation</td> <td>false</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Parameters for <code>data_collect.py</code></h3><a id="user-content-parameters-for-data_collectpy" class="anchor" aria-label="Permalink: Parameters for data_collect.py" href="#parameters-for-data_collectpy"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th>Parameter</th> <th>Description</th> <th>Example Value</th> </tr> </thead> <tbody> <tr> <td>~distance_threshold</td> <td>distance (metres) travelled from the previous pose after which a new pose is stored in the teach map</td> <td>0.2</td> </tr> <tr> <td>~angle_threshold_deg</td> <td>angular distance (degrees) travelled from the previous pose after which a new pose is stored in the teach map</td> <td>15.0</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Parameters for <code>data_save.py</code></h3><a id="user-content-parameters-for-data_savepy" class="anchor" aria-label="Permalink: Parameters for data_save.py" href="#parameters-for-data_savepy"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th>Parameter</th> <th>Description</th> <th>Example Value</th> </tr> </thead> <tbody> <tr> <td>~save_dir</td> <td>directory in which to save the teach run</td> <td>~/miro/data</td> </tr> <tr> <td>~timestamp_folder</td> <td>whether to timestamp the folder name of the teach run, so multiple runs can be performed without overwriting</td> <td>true</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Parameters for <code>localiser.py</code></h3><a id="user-content-parameters-for-localiserpy" class="anchor" aria-label="Permalink: Parameters for localiser.py" href="#parameters-for-localiserpy"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <markdown-accessiblity-table><table> <thead> <tr> <th>Parameter</th> <th>Description</th> <th>Default Value</th> </tr> </thead> <tbody> <tr> <td>~rotation_correction_gain</td> <td>proportional gain term to use for rotation corrections, <math-renderer class="js-inline-math" style="display: inline-block" data-static-url="https://github.githubassets.com/static" data-run-id="4940c6272f814dd315d4628373f5b314">$K_\theta$</math-renderer>, shouldn't need to be tuned</td> <td>0.01</td> </tr> <tr> <td>~path_correction_gain</td> <td>proportional gain term to use for along-path corrections, <math-renderer class="js-inline-math" style="display: inline-block" data-static-url="https://github.githubassets.com/static" data-run-id="4940c6272f814dd315d4628373f5b314">$K_p$</math-renderer>, shouldn't need to be tuned</td> <td>0.01</td> </tr> <tr> <td>~stop_at_end</td> <td>whether the robot should stop at the end of the route, otherwise it assumes the route is circular and restarts from the beginning</td> <td>true</td> </tr> <tr> <td>~discrete-correction</td> <td>reduce compute by only performing a correction at each goal pose, not continually</td> <td>false</td> </tr> <tr> <td>~search-range</td> <td>how many teach images to search either side of the current to perform along-path correction</td> <td>1</td> </tr> <tr> <td>~global_localisation_init</td> <td>when initialising, find the closest matching teach image to the current and start the route from there, otherwise start at the first goal</td> <td>false</td> </tr> <tr> <td>~min_init_correlation</td> <td>minimum correlation with a teach image at initialisation, otherwise the robot thinks it's not on the path and doesn't start repeating</td> <td>0.0</td> </tr> </tbody> </table></markdown-accessiblity-table> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">Overview of approach</h2><a id="user-content-overview-of-approach" class="anchor" aria-label="Permalink: Overview of approach" href="#overview-of-approach"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Teach run</h3><a id="user-content-teach-run" class="anchor" aria-label="Permalink: Teach run" href="#teach-run"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">First the robot needs to be taught a route via teleoperation. At regular distance intervals along the path the dead-reckoning position and and image will be saved, resulting in a topometric map of the route. Images are patch normalised to increase robustness to lighting variation.</p> <p dir="auto"><a target="_blank" rel="noopener noreferrer" href="/QVPR/teach-repeat/blob/master/assets/teach-run.gif"><img src="/QVPR/teach-repeat/raw/master/assets/teach-run.gif" alt="Teach run visualisation" data-animated-image="" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Repeat run</h3><a id="user-content-repeat-run" class="anchor" aria-label="Permalink: Repeat run" href="#repeat-run"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">Having learnt a route, the robot can robustly repeat it. The robot initially follows the sequence of odometry poses stored during the teach run, but errors accumulate in this approach over time. Images are compared between the teach and repeat routes to make corrections to the route.</p> <div class="markdown-heading" dir="auto"><h4 tabindex="-1" class="heading-element" dir="auto">Correction overview</h4><a id="user-content-correction-overview" class="anchor" aria-label="Permalink: Correction overview" href="#correction-overview"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">Both rotational and lateral path errors result in horizontal image offsets that can't be distinguished, but this is not a problem because both require the same correction response. However, moving along the path can also horizontal image offsets. These must be accounted for by interpolating between the previous and next goal images.</p> <p dir="auto"><a target="_blank" rel="noopener noreferrer" href="/QVPR/teach-repeat/blob/master/assets/correction-ambiguity.gif"><img src="/QVPR/teach-repeat/raw/master/assets/correction-ambiguity.gif" alt="Correction ambiguity overview" data-animated-image="" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h4 tabindex="-1" class="heading-element" dir="auto">Orientation correction</h4><a id="user-content-orientation-correction" class="anchor" aria-label="Permalink: Orientation correction" href="#orientation-correction"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">If an orientation error is detected by comparing teach and repeat images, an associated path correction is performed, modulated by a constant gain factor. This correction causes the robot to steer back onto the path.</p> <p dir="auto"><a target="_blank" rel="noopener noreferrer" href="/QVPR/teach-repeat/blob/master/assets/orientation-correction.gif"><img src="/QVPR/teach-repeat/raw/master/assets/orientation-correction.gif" alt="Orientation correction" data-animated-image="" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h4 tabindex="-1" class="heading-element" dir="auto">Along-path correction</h4><a id="user-content-along-path-correction" class="anchor" aria-label="Permalink: Along-path correction" href="#along-path-correction"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <p dir="auto">Repeat images are compared to teach images within a certain search range of the current goal. If correlation values are stronger to images ahead or behind the robot's current estimated position, and along-path correction is performed. In this case, the goal is pulled towards the robot so it will be reached faster, allowing the estimated position to "catch up" to the real position.</p> <p dir="auto"><a target="_blank" rel="noopener noreferrer" href="/QVPR/teach-repeat/blob/master/assets/along-path-correction.gif"><img src="/QVPR/teach-repeat/raw/master/assets/along-path-correction.gif" alt="Along-path correction" data-animated-image="" style="max-width: 100%;"></a></p> <div class="markdown-heading" dir="auto"><h2 tabindex="-1" class="heading-element" dir="auto">Examples of running teach and repeat for the robots we used</h2><a id="user-content-examples-of-running-teach-and-repeat-for-the-robots-we-used" class="anchor" aria-label="Permalink: Examples of running teach and repeat for the robots we used" href="#examples-of-running-teach-and-repeat-for-the-robots-we-used"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Running teach on Miro</h3><a id="user-content-running-teach-on-miro" class="anchor" aria-label="Permalink: Running teach on Miro" href="#running-teach-on-miro"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <ul dir="auto"> <li><code>roslaunch teach_repeat data_collection_miro.launch</code></li> </ul> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Running repeat on Miro</h3><a id="user-content-running-repeat-on-miro" class="anchor" aria-label="Permalink: Running repeat on Miro" href="#running-repeat-on-miro"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <ul dir="auto"> <li><code>roslaunch teach_repeat data_matching_miro.launch</code></li> </ul> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Running teach on Jackal</h3><a id="user-content-running-teach-on-jackal" class="anchor" aria-label="Permalink: Running teach on Jackal" href="#running-teach-on-jackal"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <ul dir="auto"> <li><code>rosnode kill twist_mux</code> (optional, only required for comparison with bearnav)</li> <li><code>roslaunch slam_toolbox localization.launch</code> (optional, only required for quantitative analysis)</li> <li><code>roslaunch stroll_bearnav mapping-core-jackal.launch</code> (optional, only required for comparison with bearnav)</li> <li><code>roslaunch stroll_bearnav mapping-gui-jackal.launch</code> (optional, only required for comparison with bearnav)</li> <li><code>roslaunch teach_repeat data_collection_jackal.launch</code></li> </ul> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Running repeat on Jackal</h3><a id="user-content-running-repeat-on-jackal" class="anchor" aria-label="Permalink: Running repeat on Jackal" href="#running-repeat-on-jackal"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <ul dir="auto"> <li><code>roslaunch slam_toolbox localization.launch</code> (optional, only required for quantitative analysis)</li> <li><code>roslaunch teach_repeat data_matching_jackal.launch</code></li> </ul> <div class="markdown-heading" dir="auto"><h3 tabindex="-1" class="heading-element" dir="auto">Running Bearnav repeat on Jackal</h3><a id="user-content-running-bearnav-repeat-on-jackal" class="anchor" aria-label="Permalink: Running Bearnav repeat on Jackal" href="#running-bearnav-repeat-on-jackal"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg></a></div> <ul dir="auto"> <li><code>roslaunch slam_toolbox localization.launch</code></li> <li><code>roslaunch stroll_bearnav navigation-core-jackal.launch</code></li> <li><code>roslaunch stroll_bearnav navigation-gui-jackal.launch</code></li> </ul> </article></div></div></div></div></div>   <script type="application/json" id="__PRIMER_DATA_:R0:__">{"resolvedServerColorMode":"day"}</script></div> </react-partial> <input type="hidden" data-csrf="true" value="AEDsS3yGcA78mA7AbjykHT2Uqc8mPU5BTtDGX12EavVqIxz5z4PQ8ve8wADucdaH3U101Lb1Z7jvQoWLL4OPcw==" /> </div> <div data-view-component="true" class="Layout-sidebar"> <div class="BorderGrid about-margin" data-pjax> <div class="BorderGrid-row"> <div class="BorderGrid-cell"> <div class="hide-sm hide-md"> <h2 class="mb-3 h4">About</h2> <p class="f4 my-3"> Visual teach and repeat navigation for ground based mobile robots. Code supporting the IROS2021 paper "Fast and Robust Bio-inspired Teach and Repeat Navigation" </p> <h3 class="sr-only">Topics</h3> <div class="my-3"> <div class="f6"> <a href="/topics/robotics" title="Topic: robotics" data-view-component="true" class="topic-tag topic-tag-link"> robotics </a> <a href="/topics/navigation" title="Topic: navigation" data-view-component="true" class="topic-tag topic-tag-link"> navigation </a> <a href="/topics/ros" title="Topic: ros" data-view-component="true" class="topic-tag topic-tag-link"> ros </a> </div> </div> <h3 class="sr-only">Resources</h3> <div class="mt-2"> <a class="Link--muted" data-analytics-event="{"category":"Repository Overview","action":"click","label":"location:sidebar;file:readme"}" href="#readme-ov-file"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-book mr-2"> <path d="M0 1.75A.75.75 0 0 1 .75 1h4.253c1.227 0 2.317.59 3 1.501A3.743 3.743 0 0 1 11.006 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class="Box-btn-octicon m-0 btn-octicon position-absolute right-0 top-0" type="button" aria-label="Close dialog" data-close-dialog> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-x"> <path d="M3.72 3.72a.75.75 0 0 1 1.06 0L8 6.94l3.22-3.22a.749.749 0 0 1 1.275.326.749.749 0 0 1-.215.734L9.06 8l3.22 3.22a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L8 9.06l-3.22 3.22a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042L6.94 8 3.72 4.78a.75.75 0 0 1 0-1.06Z"></path> </svg> </button> <div class="octocat-spinner my-6 js-details-dialog-spinner"></div> </details-dialog> </details> </template> <div class="Popover js-hovercard-content position-absolute" style="display: none; outline: none;"> <div class="Popover-message Popover-message--bottom-left Popover-message--large Box color-shadow-large" style="width:360px;"> </div> </div> <template id="snippet-clipboard-copy-button"> <div class="zeroclipboard-container position-absolute right-0 top-0"> <clipboard-copy aria-label="Copy" class="ClipboardButton btn js-clipboard-copy m-2 p-0" data-copy-feedback="Copied!" data-tooltip-direction="w"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copy js-clipboard-copy-icon m-2"> <path d="M0 6.75C0 5.784.784 5 1.75 5h1.5a.75.75 0 0 1 0 1.5h-1.5a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-1.5a.75.75 0 0 1 1.5 0v1.5A1.75 1.75 0 0 1 9.25 16h-7.5A1.75 1.75 0 0 1 0 14.25Z"></path><path d="M5 1.75C5 .784 5.784 0 6.75 0h7.5C15.216 0 16 .784 16 1.75v7.5A1.75 1.75 0 0 1 14.25 11h-7.5A1.75 1.75 0 0 1 5 9.25Zm1.75-.25a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-7.5a.25.25 0 0 0-.25-.25Z"></path> </svg> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-check js-clipboard-check-icon color-fg-success d-none m-2"> <path d="M13.78 4.22a.75.75 0 0 1 0 1.06l-7.25 7.25a.75.75 0 0 1-1.06 0L2.22 9.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018L6 10.94l6.72-6.72a.75.75 0 0 1 1.06 0Z"></path> </svg> </clipboard-copy> </div> </template> <template id="snippet-clipboard-copy-button-unpositioned"> <div class="zeroclipboard-container"> <clipboard-copy aria-label="Copy" class="ClipboardButton btn btn-invisible js-clipboard-copy m-2 p-0 d-flex flex-justify-center flex-items-center" data-copy-feedback="Copied!" data-tooltip-direction="w"> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-copy js-clipboard-copy-icon"> <path d="M0 6.75C0 5.784.784 5 1.75 5h1.5a.75.75 0 0 1 0 1.5h-1.5a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-1.5a.75.75 0 0 1 1.5 0v1.5A1.75 1.75 0 0 1 9.25 16h-7.5A1.75 1.75 0 0 1 0 14.25Z"></path><path d="M5 1.75C5 .784 5.784 0 6.75 0h7.5C15.216 0 16 .784 16 1.75v7.5A1.75 1.75 0 0 1 14.25 11h-7.5A1.75 1.75 0 0 1 5 9.25Zm1.75-.25a.25.25 0 0 0-.25.25v7.5c0 .138.112.25.25.25h7.5a.25.25 0 0 0 .25-.25v-7.5a.25.25 0 0 0-.25-.25Z"></path> </svg> <svg aria-hidden="true" height="16" viewBox="0 0 16 16" version="1.1" width="16" data-view-component="true" class="octicon octicon-check js-clipboard-check-icon color-fg-success d-none"> <path d="M13.78 4.22a.75.75 0 0 1 0 1.06l-7.25 7.25a.75.75 0 0 1-1.06 0L2.22 9.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018L6 10.94l6.72-6.72a.75.75 0 0 1 1.06 0Z"></path> </svg> </clipboard-copy> </div> </template> </div> <div id="js-global-screen-reader-notice" class="sr-only mt-n1" aria-live="polite" aria-atomic="true" ></div> <div id="js-global-screen-reader-notice-assertive" class="sr-only mt-n1" aria-live="assertive" aria-atomic="true"></div> </body> </html>