Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving


Baykar A. O., Lambrecht J., Kural A., Uygur S. E., Yildiz A.

2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Sivas, Turkey, 11 - 13 October 2023 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/asyu58738.2023.10296622
  • City: Sivas
  • Country: Turkey
  • Keywords: dataset, Mobile robot, tracked robot, visual localization
  • Istanbul Technical University Affiliated: Yes

Abstract

This study introduces a mobile robot capable of collecting position and corresponding visual data seamlessly from both indoor and outdoor settings within the same sequence. The mobile robot has been specifically designed to navigate obstacles such as stairs and steps during transitions between indoor and outdoor environments. To accomplish this, the robot incorporates differential driving dynamics and is equipped with essential sensors including two stereo cameras, LIDAR, IMU, and GNSS. The entire system operates on the Robot Operating System (ROS). Consequently, it becomes possible to create a comprehensive dataset that encompasses not only the routes traversed by mobile vehicles but also includes all vehicle and pedestrian roads, as well as indoor spaces, found within a campus environment.