상세정보
학술대회
Satellite Image based Topological Map Building Method for Intelligent Mobile Robots
- 발행일
- 201206
- 출처
- Intelligent Vehicles Symposium (IV) 2012, pp.867-872
- 협약과제
- 12MC2200, 실외환경에 강인한 도로기반 저가형 자율주행 기술 개발, 유원필
- 초록
- This paper presents an efficient method for building a topological map for robots in urban environments based on satellite image maps acquired from a geographic information system (GIS). In urban space, mobile robots need a special map, such as a topological map, to generate a path toward their goal. A topological map for mobile robot navigation should include semantic data, e.g., the width and type of road. We divide the satellite image based topological map building process into two steps. The first step is defining the topological map model to fit the mobile robot navigation in an urban environment. The second step is generating a topological map from existing satellite image maps downloaded from the GIS to reduce the cost and improve the accuracy in building the map. If a GIS-based topological map is constructed once, it is possible to use the map for the navigation of various robots as common spatial data. To validate the proposed mapping method, we show details of its implementation in map building as well as in a navigation experiment in real outdoor environments, such as a campus or city district. © 2012 IEEE.
- KSP 제안 키워드
- GIS-based, Geographic Information System, Information systems(IS), Mapping method, Mobile Robot Navigation, Outdoor environments, Second step, Spatial data, Topological map building, Urban space, building process