Questions tagged [data-association]
The data-association tag has no usage guidance.
11
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How to calculate the ground truth of your own simple dataset for testing your SLAM Algorithm?
I have tested my SLAM algorithm on EuRoC, TUM and KITTI Datasets. But I would like to test on my own custom dataset. Moreover, I already rectify how to make my own dataset in TUM dataset format, but I ...
2
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How to deal with Gaussian Errors, which don't have a mean value of 0?
I'm writing a SLAM algorithm. One of the main problems is, that the landmark measurement error is not really Gaussian distributed, which means, their error doesn't have a mean value of 0.
I already ...
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Transforming a 3x3 Covariance Matrix to 2x2
Hello friends of the robotics,
for Data Association I have the Robots cov matrix in a 3x3 Form, but the measurements and landmarks only in 2x2. I want to compute the Mahalanobis distance, so how ...
2
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1
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185
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How to build map for unknown environment? [closed]
In order to create a map for unknown environment, we have two solutions:
The size of the area should be given (grid-based maps) so simply we create 2D grid and have our robot to move discrete ...
- 21
2
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57
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How to perform active search in point feature based monoSLAM?
I am modifying an implementation of SLAM with single camera, MonoSLAM [1]. Instead of image patches, I want to use features points (ORB) to track landmarks. MonoSLAM uses a EKF framework. So for ...
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provide world map for ekf global localization problem
I am trying to implement the ekf_localization algorithm in page 217 (Table 7.3) of the probabilistic robotics book by Thrun.
From my previous post, I understand that I need to extract observed ...
- 23
2
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185
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EKF localization data association
I am working with ROS indigo and clearpath huskyA200 and wanted to implement the EKF localization with unknown correspondences with my own hokuyo lidar data for a school project. Giving the algorithm ...
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6
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Do robots usually have databases?
I am a junior web developer working mainly with Bash, Javascript, and Drupal. I'm more fascinated writing scripts and programs that do certain concrete actions instead of querying and manipulating ...
user16003
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2k
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Pose-Graph-SLAM: How to create edges if only IMU-odometry is given?
I want to estimate the poses of a vehicle at certain key frames. The only sensor information I can use is from an IMU which yields translational acceleration and orientation measurments. I obtain a 7D ...
- 197
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joint compatibility branch and bound (JCBB) data association implementation
I would like to implement the joint compatibility branch and bound technique in this link as a method to carry out data association. I've read the paper but still confused about this function $f_{H_{i}...
- 2,429
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Data association with ekf?
Given part of the following algorithm in page 217 probabilistic robotics, this algorithm for EKF localization with unknown correspondences
9. for all observed features $z^{i} = [r^{i} \ \phi^{2} \ ...
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