Monocular Vision based Particle Filter Localization in Urban Environments

Mobile Robotics;Localization;Particle Filter;Monocular Vision;Mechanical Engineering

Leung, Keith Yu Kit

University of Waterloo

关键词: Mobile Robotics;    Localization;    Particle Filter;    Monocular Vision;    Mechanical Engineering;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/3321/1/Thesis_Master_Source.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

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.