Snakey SLAM-Nav

Abstract: Our lab also researches SLAM (Simultaneous Localization and Mapping) and Auotnomous Navigation. We thought it would be fun to combine these to see what we could get. Using a wireless camera, we gave it a shot.

Given that we were getting some decent results on monocular SLAM and autonomous navigation using perception-space local planning, we figured it would be fun to try to integrate all of the different research threads to see if it was possible for Snakey to achieve semi-autonomous locomotion. We got close. You can see Snakey SLAM-Nav version 1.0 below and also read about it here.

The problems we encountered with a monocular camera were sufficient that we've decided to go with a stereo camera. To get a monocular camera to work, we had to use a bunch of older techniques (kind of like these), plus make some assumptions about the camera motion since a monocular setup lacks scale recovery. We should have some results soon. Our aim is to submit them for publication in March 2020.