Kirk MacTavish

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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)
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)
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)
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)
  • 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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