V-TR_Lite

Robust and Long-Term Monocular Teach-and-Repeat Navigation using a Single-Experience Map

Paper
Video Demo

• Day2Night navigation
• Fisheye-Panorama navigation

Authors: Li Sun, Marwan Taher, et al.

Ubuntu 18 + ROS Melodic

Usage

1. launch odometry monitor, mapper and navigator: roslaunch vtr_lite vtr_lite.launch
2. Mapping: rosservice call /vtr_lite/mapper "map_name: 'church'"
3. Navigate: rosservice call /vtr_lite/navigator "map_name: 'church' reverse: false"
4. Note, if you use the rosbags, you will need to firstly play the rosbag then call the services.