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

摘要

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.