Global Localization and Guided Relocalization in Unstructured Environments using Semantic Objects
This thesis presents a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, this pipeline does not rely on cues from urban fixtures (e.g., lane markings, buildings), nor does it make assumptions that require the...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/151440 |