Global Urban Localization of Outdoor Mobile Robots Using Satellite Images

Localization is one of the major research fields in mobile robotics. With the utilization of satellite images and Monte Carlo Localization technique, the global localization of an outdoor mobile robot is studied in this paper. The proposed method employs satellite images downloaded from the Internet to localize the robot iteratively. To accomplish this, the proposed method matches the local laser scanner data with the segmented satellite images. Initial test results conducted on the METU campus are found to be quite promising. Further improvement of this approach has the potential of cutting down not only the operational costs but also the preparation period of the mobile robot enabling researchers to operate their robots in diverse outdoor settings.