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

Ali Omer Baykar; Jens Lambrecht; Ayhan Kural; Selcuk Eray Uygur; Ahmet Yildiz

doi:10.1109/ASYU58738.2023.10296622

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

Ali Omer Baykar^*, Jens Lambrecht, Ayhan Kural, Selcuk Eray Uygur, Ahmet Yildiz

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350306590
DOIs	https://doi.org/10.1109/ASYU58738.2023.10296622
Publication status	Published - 2023
Event	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023 - Sivas, Turkey Duration: 11 Oct 2023 → 13 Oct 2023

Publication series

Name	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023

Conference

Conference	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
Country/Territory	Turkey
City	Sivas
Period	11/10/23 → 13/10/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

dataset
Mobile robot
tracked robot
visual localization

Access to Document

10.1109/ASYU58738.2023.10296622

Cite this

Baykar, A. O., Lambrecht, J., Kural, A., Uygur, S. E., & Yildiz, A. (2023). Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving. In 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023 (2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASYU58738.2023.10296622

Baykar, Ali Omer ; Lambrecht, Jens ; Kural, Ayhan et al. / Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving. 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023).

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title = "Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving",

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.",

keywords = "dataset, Mobile robot, tracked robot, visual localization",

author = "Baykar, {Ali Omer} and Jens Lambrecht and Ayhan Kural and Uygur, {Selcuk Eray} and Ahmet Yildiz",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023 ; Conference date: 11-10-2023 Through 13-10-2023",

year = "2023",

doi = "10.1109/ASYU58738.2023.10296622",

language = "English",

series = "2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023",

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Baykar, AO, Lambrecht, J, Kural, A, Uygur, SE & Yildiz, A 2023, Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving. in 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023. 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Institute of Electrical and Electronics Engineers Inc., 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Sivas, Turkey, 11/10/23. https://doi.org/10.1109/ASYU58738.2023.10296622

Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving. / Baykar, Ali Omer; Lambrecht, Jens; Kural, Ayhan et al.
2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving

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AU - Yildiz, Ahmet

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AB - 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.

KW - dataset

KW - Mobile robot

KW - tracked robot

KW - visual localization

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M3 - Conference contribution

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Baykar AO, Lambrecht J, Kural A, Uygur SE, Yildiz A. Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving. In 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023). doi: 10.1109/ASYU58738.2023.10296622

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

Abstract

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Bibliographical note

Keywords

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