Date of Award
2018
Degree Type
Thesis
Degree Name
Master of Science in Computer Science
Department
Computer Science and Statistics
First Advisor
Jean-Yves Hervé
Abstract
This research analyzes a new method to localize a moving vehicle within a known road network using differential odometry and a digital road map. The technique proposes geometrically hashing road features whose curvature is great enough to represent a distinct, measurable, real-world phenomenon. Several other strategies using road map data to constrain a localization search are discussed. In the recognition phase, this research proposes using a modified particle filter provides a way to maintain, test, and resample multiple hypotheses of the vehicle’s dead-reckoned location.
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.
Recommended Citation
Demarest, Tyson, "Positioning by Road Feature Correspondence" (2018). Open Access Master's Theses. Paper 1278.
https://digitalcommons.uri.edu/theses/1278