Monocular Vision based Particle Filter Localization in Urban Environments
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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.
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Keith Yu Kit Leung (2007). Monocular Vision based Particle Filter Localization in Urban Environments. UWSpace. http://hdl.handle.net/10012/3321