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Outdoor mapping and localization using satellite images

Published online by Cambridge University Press:  15 January 2010

C. U. Dogruer,
A. B. Koku and
M. Dolen
C. U. Dogruer*
Affiliation:
Mechanical Engineering Department, Hacettepe University, Beytepe Campus, 06800 Beytepe/Ankara, Turkey
A. B. Koku
Affiliation:
Mechanical Engineering Department, Hacettepe University, Beytepe Campus, 06800 Beytepe/Ankara, Turkey
M. Dolen
Affiliation:
Mechanical Engineering Department, Hacettepe University, Beytepe Campus, 06800 Beytepe/Ankara, Turkey
*
*Corresponding author. E-mail: cdogruer@hacettepe.edu.tr
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Summary

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Recently, satellite images of most urban settings has become available on the internet. In this study, a novel mapping and global localization approach, which uses these images, is proposed for outdoor mobile robots operating in urban environment. The mapping of large-scale outdoor environments is done by employing the satellite images acquired by remote sensing technology, and then a map-based approach, that is, Monte Carlo localization is used for localization. The novelty of proposed method is that it uses standard equipment present on almost all autonomous robots and satellite images thus it acts as an alternative to GPS data in urban environments. Extensive field tests are presented to demonstrate the effectiveness of proposed approach.

Keywords

MappingLocalizationOutdoor mobile robotsSatellite imagesRemote sensing

Information

Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010, pp. 1001 - 1012
Copyright
Copyright © Cambridge University Press 2010

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