ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume V-1-2021
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-1-2021, 73–80, 2021
https://doi.org/10.5194/isprs-annals-V-1-2021-73-2021
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-1-2021, 73–80, 2021
https://doi.org/10.5194/isprs-annals-V-1-2021-73-2021

  17 Jun 2021

17 Jun 2021

TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS

R. Rouveure1, P. Faure2, and M.-O. Monod1 R. Rouveure et al.
  • 1Clermont Auvergne University, INRAE, UR TSCF, F-63000 Clermont-Ferrand, France
  • 2CEGELEC, 22 Rue Jules Verne, F-63100 Clermont-Ferrand, France

Keywords: Microwave Radar, Mapping, Localization, Robotics

Abstract. 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.