Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


case1244058424.pdf (3.36 MB)

ETD Abstract Container

Abstract Header

A Fast Localization Method Based on Distance Measurement in a Modeled Environment.

Deo, Ashwin P.
http://rave.ohiolink.edu/etdc/view?acc_num=case1244058424

Abstract Details

2009, Master of Sciences (Engineering), Case Western Reserve University, EECS - Computer and Information Sciences.
Accurate localization is one of the core requirements for autonomous vehicle navigation. This thesis presents a localization algorithm that operates on an a priori map represented as a collection of line segments. This method treats the entire map as a solid body template and performs a fit of this template to the available sensory data. Combining an analytic translation-optimization technique with an iterative heading search technique enabled an accurate and computationally efficient method for finding the localization parameters. This algorithm is further extended to deal with singularities of situations of partial observability. Statistical analysis of simulations with synthetic data indicated that the algorithm was able to handle ideal as well as noisy data with good accuracy. Its performance was further evaluated using actual sensory data from LIDAR. LIDAR-based localization proved to be an effective technique for localization a vehicle in complex indoor environments. The thesis also explores the capabilities of stereo vision and describes the initial assessment of replacing LIDAR with stereo vision for localization.
Wyatt Newman (Committee Chair)
Frank Merat (Committee Member)
Cenk Cavusoglu (Committee Member)
108 p.
Computer Science; Electrical Engineering; Robots
Mobile Robotics; Localization; Computer Vision; Template Matching

Recommended Citations

Citations

  • Deo, A. P. (2009). A Fast Localization Method Based on Distance Measurement in a Modeled Environment. [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1244058424

    APA Style (7th edition)

  • Deo, Ashwin. A Fast Localization Method Based on Distance Measurement in a Modeled Environment. 2009. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1244058424.

    MLA Style (8th edition)

  • Deo, Ashwin. "A Fast Localization Method Based on Distance Measurement in a Modeled Environment." Master's thesis, Case Western Reserve University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1244058424

    Chicago Manual of Style (17th edition)

case1244058424
1,157
© 2009, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.