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.

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