Monocular vision based particle filter localization in urban environments
Posted on:2008-08-01
Degree:M.A.Sc
Type:Thesis
University:University of Waterloo (Canada)
Candidate:Leung, Keith Yu Kit
Full Text:PDF
GTID:2448390005971862
Subject:Engineering
Abstract/Summary:
This thesis presents the design and experimental result of a monocular vision based particle filter localization system for urban settings that uses aerial orthoimagery as a reference map. The topics of perception and localization are reviewed along with their modeling using a probabilistic framework. Computer vision techniques used to create the feature map and to extract features from camera images are discussed. Localization results indicate that the design is viable.