TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS
Mobile robotics applications in outdoor environments now use intensively Global Positioning System (GPS). For localization or navigation operations, GPS has become an essential tool due to its ease of use, its precision, and its worldwide accessibility. The increase of autonomy level in mobile robot...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2021-06-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2021/73/2021/isprs-annals-V-1-2021-73-2021.pdf |
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| author | R. Rouveure P. Faure M.-O. Monod |
| author_facet | R. Rouveure P. Faure M.-O. Monod |
| author_sort | R. Rouveure |
| collection | DOAJ |
| description | Mobile robotics applications in outdoor environments now use intensively Global Positioning System (GPS). For localization or navigation operations, GPS has become an essential tool due to its ease of use, its precision, and its worldwide accessibility. The increase of autonomy level in mobile robotics implies a robust centimeter-level positioning, but the presence of natural (trees, mountains) or man-made obstacles (buildings) can degrade or prevent GPS signals reception. We present in this paper a solution for robots localization based on PELICAN microwave radar. PELICAN radar provides each second a panoramic image of the surrounding environment. These images are concatenated through a Simultaneous Localization And Mapping (SLAM) algorithm in order to build global maps of the traveled environments. The proposed solution computes the position and orientation of the robot through a real-time 3D matching between the current radar image and a pre-existing radar map constructed during an exploratory phase. |
| first_indexed | 2024-12-21T15:30:23Z |
| format | Article |
| id | doaj.art-a367a70e7caf43cabcab842471c91d5f |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-12-21T15:30:23Z |
| publishDate | 2021-06-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-a367a70e7caf43cabcab842471c91d5f2022-12-21T18:58:46ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502021-06-01V-1-2021738010.5194/isprs-annals-V-1-2021-73-2021TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTSR. Rouveure0P. Faure1M.-O. Monod2Clermont Auvergne University, INRAE, UR TSCF, F-63000 Clermont-Ferrand, FranceCEGELEC, 22 Rue Jules Verne, F-63100 Clermont-Ferrand, FranceClermont Auvergne University, INRAE, UR TSCF, F-63000 Clermont-Ferrand, FranceMobile robotics applications in outdoor environments now use intensively Global Positioning System (GPS). For localization or navigation operations, GPS has become an essential tool due to its ease of use, its precision, and its worldwide accessibility. The increase of autonomy level in mobile robotics implies a robust centimeter-level positioning, but the presence of natural (trees, mountains) or man-made obstacles (buildings) can degrade or prevent GPS signals reception. We present in this paper a solution for robots localization based on PELICAN microwave radar. PELICAN radar provides each second a panoramic image of the surrounding environment. These images are concatenated through a Simultaneous Localization And Mapping (SLAM) algorithm in order to build global maps of the traveled environments. The proposed solution computes the position and orientation of the robot through a real-time 3D matching between the current radar image and a pre-existing radar map constructed during an exploratory phase.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2021/73/2021/isprs-annals-V-1-2021-73-2021.pdf |
| spellingShingle | R. Rouveure P. Faure M.-O. Monod TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS |
| title_full | TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS |
| title_fullStr | TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS |
| title_full_unstemmed | TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS |
| title_short | TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS |
| title_sort | terrestrial mobile mapping based on a microwave radar sensor application to the localization of mobile robots |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-1-2021/73/2021/isprs-annals-V-1-2021-73-2021.pdf |
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