Hybrid Map for Autonomous Commercial Vehicles - Global localization using topological mapping and machine learning
[Examensarbete på avancerad nivå]
We propose and investigated a novel method for global navigation and localization of an autonomous commercial vehicle within a conned area using a hybrid map. The hybrid map is based on a topology using nodes and edges where signicant places are adapted as nodes. The hybrid map is able to store dierent type of machine learning algorithms and its exible design allows the topology to be easily extended. The hybrid map operates using a node detector algorithm complimented with a node classication algorithm for increased robustness. The machine learning algorithms uses two dimens
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