Global Urban Localization of Outdoor Mobile Robots Using Satellite Images

Date

2008-09-26

Author

DOĞRUER, CAN ULAŞ
Koku, Ahmet Buğra
Dölen, Melik

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

237
views

0
downloads

Localization is one of the major research fields in mobile robotics. With the utilization of satellite images and Monte Carlo localization technique, the global localization of an outdoor mobile robot is studied in this paper. The proposed method employs satellite images downloaded from the Internet to localize the robot iteratively. To accomplish this, the proposed method matches the local laser scanner data with the segmented satellite images. Initial test results conducted on the METU campus are found to be quite promising. Further improvement of this approach has the potential of cutting down not only the operational costs but also the preparation period of the mobile robot enabling researchers to operate their robots in diverse outdoor settings.

Subject Keywords

Robots, Satellites, Mobile robots, Robot kinematics, Measurement by laser beam, Lasers, Robot sensing systems

URI

https://hdl.handle.net/11511/46484

DOI

https://doi.org/10.1109/iros.2008.4650983

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Development of a visual object localization module for mobile robots Şahin, Erol (1999-01-01) Reports preliminary results from the design and implementation of a visual object localization module for mobile robots. The module takes an object-based approach to visual processing and relies on a preprocessing step that segments objects from the image. By tracking the size and the eccentricity of the objects in the image while the robot is moving, the visual object localization module can determine the position of objects relative to the robot using the displacement obtained from its odometry. In locali...
Control and motion planning for mobile robots via a secure wireless communication protocol Kaya, Muhammed Çağrı; Eroğlu, Alperen; Temizer, Selim (null; 2013-05-21) Mobile robot control is receiving considerably more attention in current robotics research. Especially unmanned vehicles are used in important missions such as bomb disposal, patrolling borders of a country by unmanned aerial vehicles (UAVs), etc. This usage increases the importance of unmanned vehicles and they become a target of malevolent people. In this study, a controllable robot system is designed with a secure communication protocol. A Pioneer P3-DX robot is used as a ground vehicle. The robot operat...
Global urban localization of an outdoor mobile robot using satellite images Doğruer, Can Ulaş; Koku, Ahmet Buğra; Department of Mechanical Engineering (2009) In this dissertation, the mapping of outdoor environments and localization of a mobile robot in that setting is considered. It is well known that in the absence of a map or precise pose estimates, localization and mapping is a coupled problem. However, in this dissertation this problem is decoupled in to two disjoint steps; mapping and localization on the acquired map. First the images of the outdoor environment is downloaded from a website such as Google Earth and then these images are processed by utilizi...
DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13) This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Ko...
Multi-objective decision making using fuzzy discrete event systems: A mobile robot example Boutalis, Yiannis; Schmidt, Klaus Verner (2010-09-29) In this paper, we propose an approach for the multi-objective control of sampled data systems that can be modeled as fuzzy discrete event systems (FDES). In our work, the choice of a fuzzy system representation is justified by the assumption of a controller realization that depends on various potentially imprecise sensor measurements. Our approach consists of three basic steps that are performed in each sampling instant. First, the current fuzzy state of the system is determined by a sensor evaluation. Seco...

Citation Formats

C. U. DOĞRUER, A. B. Koku, and M. Dölen, “Global Urban Localization of Outdoor Mobile Robots Using Satellite Images,” 2008, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/46484.