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Hybrid Map for Autonomous Commercial Vehicles - Global localization using topological mapping and machine learning

Gustaf Johansson ; Mattias Wasteby
Göteborg : Chalmers tekniska högskola, 2017. Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, ISSN 1652-8557; 2017:14, 2017.
[Examensarbete på avancerad nivå]

We propose and investigated a novel method for global navigation and localization of an autonomous commercial vehicle within a con ned area using a hybrid map. The hybrid map is based on a topology using nodes and edges where signi cant places are adapted as nodes. The hybrid map is able to store di erent 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 classi cation algorithm for increased robustness. The machine learning algorithms uses two dimens

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