TY - GEN
T1 - Satellite image based topological map building method for intelligent mobile robots
AU - Lee, Yu Cheol
AU - Christiand,
AU - Yu, Wonpil
AU - Kim, Sunghoon
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84865030964&partnerID=8YFLogxK
U2 - 10.1109/IVS.2012.6232295
DO - 10.1109/IVS.2012.6232295
M3 - Conference contribution
AN - SCOPUS:84865030964
SN - 9781467321198
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 867
EP - 872
BT - 2012 IEEE Intelligent Vehicles Symposium, IV 2012
T2 - 2012 IEEE Intelligent Vehicles Symposium, IV 2012
Y2 - 3 June 2012 through 7 June 2012
ER -