Robotics Research Journal (RRJ)

Research Article

RTK enhanced Precision Geospatial Localization Mechanism for Outdoor SfM Photometry Applications

Dugan Um

Texas A&M University – CC, 6300 Ocean Dr. Corpus Christi, TX 78412 USA

Submitted: January 17, 2018; Accepted: June 26, 2018

Abstract

In this paper, we propose a UGV (Unmanned Ground Vehicle) traction mechanism and efficient motion planning means for SfM (Structure from Motion) in outdoor applications. An energy efficient traction mechanism is essential for battery driven UGVs to minimize energy cost. In addition, an autonomous path planning and motion control scheme has to be implemented for SfM especially for various outdoor applications. The photographic detailed 3D surface construction technology has potential for various applications in many fields. UAVs (Unmanned Aerial Vehicles) are dominant in 3D photometry applications with the advantage of relatively easy path planning and control in the air. An autonomous UGV based 3D photometry is, however, still a daunting task due to various and complex structures on the ground. The main challenge is to ensure obtaining a complete set of photography for a target site, minimizing duplication for less data processing and yet to have enough overlap between photos for stitching process.

The main contribution of this paper includes technical resolutions of challenging 3D surface reconstruction by a UGV in outdoor environments. Three main technical challenges have been identified: minimum energy loss by enhanced traction mechanism for wider area coverage, motion control for high quality SfM, and path planning with collision avoidance for complete 3D surface construction. In order to resolve these 3 issues, we designed a UGV with a novel traction mechanism for minimum energy loss, and developed a path control algorithm using RTK-GPS based precision mission planning.

Keywords

SfM, modularized robot; traversability; UGV (Unmanned ground vehicle); GPS navigation

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