Vision based metric-topological localization for UGV

• Main Author: Yang, Shuai
• Other Authors: Wang Han
• Format: Theses and Dissertations
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/73037
• Institution: Nanyang Technological University

This thesis studies vision based localization methods for unmanned ground vehicle (UGV) to achieve accurate and robust positioning in GPS challenging environments. Efforts are made from the perspective of topological and metric localization. Due to the incremental nature, visual odometry belongs to...