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

^*Bu çalışma için yazışmadan sorumlu yazar

Makina Mühendisliği Bölümü

Istanbul Technical University
Turk-Alman Universitesi
Technical University of Berlin
Macromedia University of Applied Sciences

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9798350306590
DOI'lar	https://doi.org/10.1109/ASYU58738.2023.10296622
Yayın durumu	Yayınlandı - 2023
Etkinlik	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023 - Sivas, Türkiye Süre: 11 Eki 2023 → 13 Eki 2023

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
Ülke/Bölge	Türkiye
Şehir	Sivas
Periyot	11/10/23 → 13/10/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

Finansman

ACKNOWLEDGMENT This work is supported by Turkish-German University Scientific Research Projects Coordination Unit, Project Nr: 2021BM04.

Finansörler	Finansör numarası
Turkish-German University	2021BM04

Belgeye Erişim

10.1109/ASYU58738.2023.10296622

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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).

@inproceedings{7f4452ca495f4f448cf70313197206fa,

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",

address = "United States",

}

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, Türkiye, 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).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

TY - GEN

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

AU - Baykar, Ali Omer

AU - Lambrecht, Jens

AU - Kural, Ayhan

AU - Uygur, Selcuk Eray

AU - Yildiz, Ahmet

PY - 2023

Y1 - 2023

N2 - 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.

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

UR - https://www.scopus.com/pages/publications/85178288505

U2 - 10.1109/ASYU58738.2023.10296622

DO - 10.1109/ASYU58738.2023.10296622

M3 - Conference contribution

AN - SCOPUS:85178288505

T3 - 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023

BT - 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023

Y2 - 11 October 2023 through 13 October 2023

ER -

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

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap