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doc:coordinate_systems [2013/04/22 09:31] – created admindoc:coordinate_systems [2014/06/05 11:38] – external edit 127.0.0.1
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 ==== Truly global coordinates ==== ==== Truly global coordinates ====
-'Global coordinate' so far means 'coordinate in the robot's environment map'. There is currently no system for linking these maps to a world-global coordinate system like the [[http://en.wikipedia.org/wiki/WGS84 WGS84]] system used for [[http://en.wikipedia.org/wiki/Global_Positioning_System GPS]] localization. There are different options how this could be done, while one has to keep in mind that they should be usable by an autonomous robot without human intervention:+'Global coordinate' so far means 'coordinate in the robot's environment map'. There is currently no system for linking these maps to a world-global coordinate system like the [[http://en.wikipedia.org/wiki/WGS84|WGS84]] system used for [[http://en.wikipedia.org/wiki/Global_Positioning_System|GPS]] localization. There are different options how this could be done, while one has to keep in mind that they should be usable by an autonomous robot without human intervention:
   * Specify e.g. WGS84 coordinates: This would be the easiest to use, but requires the robot to have access to global positioning data (e.g. GPS), which is often not available in indoor environments, or to have a human manually specify these coordinates.   * Specify e.g. WGS84 coordinates: This would be the easiest to use, but requires the robot to have access to global positioning data (e.g. GPS), which is often not available in indoor environments, or to have a human manually specify these coordinates.
   * Qualitative location description: A hierarchy of town, street, house number, floor number, room number could be used to find appropriate maps.   * Qualitative location description: A hierarchy of town, street, house number, floor number, room number could be used to find appropriate maps.