Questions tagged [data-association]
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11
questions
1
vote
1answer
123 views
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
votes
1answer
27 views
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 ...
0
votes
0answers
71 views
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
votes
1answer
163 views
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 ...
2
votes
1answer
50 views
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 ...
0
votes
2answers
73 views
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 ...
2
votes
1answer
165 views
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 ...
1
vote
6answers
717 views
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 ...
1
vote
1answer
2k views
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 ...
0
votes
1answer
2k views
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
votes
1answer
401 views
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} \ ...