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.
| Identifer | oai:union.ndltd.org:WATERLOO/oai:uwspace.uwaterloo.ca:10012/3321 |
| Date | 17 September 2007 |
| Creators | Leung, Keith Yu Kit |
| Source Sets | University of Waterloo Electronic Theses Repository |
| Language | English |
| Detected Language | English |
| Type | Thesis or Dissertation |
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