Global Urban Localization of Outdoor Mobile Robots Using Satellite Images

Date

2008-09-26

Author

DOĞRUER, CAN ULAŞ
Koku, Ahmet Buğra
Dölen, Melik

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

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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

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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.