Monocular Vision Based Particle Filter Localization in Urban Environments

Download or read book Monocular Vision Based Particle Filter Localization in Urban Environments written by Keith Yu Kit Leung and published by . This book was released on 2007 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.