Monocular Vision Based Particle Filter Localization in Urban Environments
Author | : Keith Yu Kit Leung |
Publisher | : |
Total Pages | : 160 |
Release | : 2007 |
ISBN-10 | : 0494352760 |
ISBN-13 | : 9780494352762 |
Rating | : 4/5 (60 Downloads) |
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.