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Sven Heinrichsen:

MATRIX-Localization for autonomous model cars


In this thesis I implemented MATRIX, a force field pattern matching algorithm for improving a robots´odometry. I first implemented this algorithm in a simulator and later adapted it for autonomous model cars. I experimented with omnidirectional cameras first, but soon adapted the algorithm to be used with a forward-facing camera instead. Experiments showed that MATRIX can be highly effective in the correct circumstances, or rather unhelpful if those conditions are not met.

Bachelor of Science (B.Sc.)