varun-projects / vtr3

VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of the network.

Visual Teach & Repeat 3 (VT&R3)

Note

We are still in the process of cleaning up the codebase and having all features of VT&R3 on the main branch.

• Main branch has support for lidar/radar teach and repeat.
• v3.0.0 tag has support for stereo camera teach and repeat (to be merged in the future).

What is VT&R3?

VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of network. VT&R3 is designed for easy adaptation to various sensor (camera, lidar, radar, GPS, etc) and robot combinations. So far, we have explored using VT&R3 to perform teach and repeat navigation using a stereo camera, a lidar, or a combination of stereo camera and GPS.

Reproducing Results of VT&R3 Papers

VT&R3 related papers usually focus on demonstrating one specific feature of VT&R3 instead of the whole system and require additional scripts to run experiements and evaluate results. Therefore, from now on, we will create a separate repository for each paper with instructions on how to reproduce the results.

• Burnett et al., Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?, IROS'22

Knowing the Codebase

The following articles will help you get familiar with VT&R3:

• Installation
• Getting Started
• Demo Datasets

More information can be found in the wiki page.

Citation

Please cite the following paper when using VT&R3 for your research:

@article{paul2010vtr,
  author = {Furgale, Paul and Barfoot, Timothy D.},
  title = {Visual teach and repeat for long-range rover autonomy},
  journal = {Journal of Field Robotics},
  year = {2010},
  doi = {https://doi.org/10.1002/rob.20342}
}

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