Localization along routes, based upon iconic and Global Positioning System information in large-scale outdoor environments

Author: Li, Shigang

Source: Advanced Robotics, Volume 15, Number 7, 2001 , pp. 749-762(14)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper proposes a method of robot navigation in outdoor environments based upon panoramic view and Global Positioning System (GPS) information. Our system is equipped with a GPS navigator and a camera. The route scene can be described by three-dimensional objects extracted as landmarks from panoramic representations. For an environment having limited routes, a two-dimensional map can be made based upon routes scenes, assuming that the topological relation of routes at intersections is known. By using GPS information, the global position of a mobile robot can be known, and a coarse-to-fine method is used to generate an outdoor environment map and locate a mobile robot. First, a robot finds its approximate position based on the GPS information. Then, it identifies its location from the image information. Experimental results in outdoor environments are given.

Keywords: ROBOT LOCALIZATION; OUTDOOR ENVIRONMENT; PANORAMIC VIEW; GPS NAVIGATOR; COARSE-TO-FINE APPROACH

Document Type: Research article

DOI: 10.1163/15685530152744608

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