Satellite image based topological map building method for intelligent mobile robots

Yu Cheol Lee, Christiand, Wonpil Yu, Sunghoon Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2012 IEEE Intelligent Vehicles Symposium, IV 2012
Pages867-872
Number of pages6
DOIs
StatePublished - 2012
Event2012 IEEE Intelligent Vehicles Symposium, IV 2012 - Alcal de Henares, Madrid, Spain
Duration: 3 Jun 20127 Jun 2012

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference2012 IEEE Intelligent Vehicles Symposium, IV 2012
Country/TerritorySpain
CityAlcal de Henares, Madrid
Period3/06/127/06/12

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