Leung, Keith Yu Kit2007-09-262007-09-262007-09-262007-09-17http://hdl.handle.net/10012/3321This 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.enMobile RoboticsLocalizationParticle FilterMonocular VisionMaster ThesisMechanical Engineering