Kirk MacTavish

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Vision-based, route-following algorithms enable autonomous robots to repeat manually taught paths over long distances using inexpensive vision sensors. However, these methods struggle with long-term, outdoor operation due to the challenges of environmental appearance change caused by lighting, weather, and seasons. While techniques exist to address(More)
Stereo Visual Teach & Repeat (VT&R) is a system for long-range, autonomous route following in unstructured 3D environments. As this system relies on a passive sensor to localize, it is highly susceptible to changes in lighting conditions. Recent work in the optics community has provided a method to transform images collected from a three-channel(More)
Mobile robots supported by an electromechanical tether can safely explore extremely rugged terrain in resource-limited environments. While a tether provides power, wired communication, and support on steep surfaces, it also reduces maneuverability; in cluttered environments the tether will contact obstacles, forming intermediate anchor points. In order for(More)
Camera-based localization techniques must be robust to correspondence errors, i.e., when visual features (landmarks)are matched incorrectly. The two primary techniques to address this issue are RANSAC and robust M-estimation -- each more appropriate for different applications. This paper investigates the use of different robust cost functions for(More)
Our work builds upon Visual Teach & Repeat 2 (VT&R2): a vision-in-the-loop autonomous navigation system that enables the rapid construction of route networks, safely built through operator-controlled driving. Added routes can be followed autonomously using visual localization. To enable long-term operation that is robust to appearance change, its(More)
  • ROVER “ARTEMIS, Vincent Simard Bilodeau, +4 authors Kirk MacTavish
  • 2012
Accurate localization of a rover is a critical enabling technology for planetary exploration missions. In this context, NGC Aerospace and Neptec Design Group have developed, implemented and tested a generic and robust vision-based pose estimation system for the lunar exploration rover “Artemis”. The system aims at maintaining the rover position estimation(More)
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