Vision based metric-topological localization for UGV

• المؤلف الرئيسي: Yang, Shuai
• مؤلفون آخرون: Wang Han
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2017
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/73037
• المؤسسة: 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...