Homing a Teleoperated Car using Monocular SLAM

Personal, inexpensive, easy-to-use, teleoperated, autonomous, mobile robots are starting to be a reality and are expected to be widespread within some few years. Fostering the development of these robots implies testing various hardware and software technologies. In this work we propose developing the communications with the robot through an IP wireless camera. The rational is that the required bandwidth for motion commanding and reporting is much lesser than the one required for video streaming. Therefore, robot commanding can be embedded non-disruptively within the video streaming. In this paper we detail the base components forming the robot, show navigation experiments based in MonoSLAM, and propose a methodology to regulate the accumulation odometry error associated with map-less MonoSLAM.