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Questions tagged [lidar]

Lidar (also written LIDAR, LiDAR or LADAR) is a surveying technology that measures distance by illuminating a target with a laser light. Lidar exists as an acronym of Light Detection And Ranging.

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What is the perfect map format to be used by indoor robot with limited sensors?

Plan is to create some map using a more advanced robot (probably using LiDAR or any other popular methods) and use that map by the another mobile robot which only has ultrasonic sensor. So my ...
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55 views

Is this SLAM performance typical or am I doing something wrong?

I'm experimenting with SLAM for the first time. I am using ROS on a Turtlebot3, which has a Raspberry Pi and a single Lidar sensor, Robotis LDS-01. I am running a configuration with three computers, ...
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In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
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Using Lidar data to detect distance of nearest obstacle, and rate of change

What's the statistically and mathematically correct way to process lidar data so that I can find out a good current estimate of the closet obstacle and its rate change? Should I be learning about ...
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2D LiDAR (LRF) products

I'm new to the field of laser scanners, and as I browsed through the forum, I realized that people mainly use products from two brands, SICK and Hokuyo. I can't help wondering why people only use ...
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Using hls lfcd lds in conjunction with a motor driver for obsticle avoidance

I have a hls lfcd lds that i am desperately trying to figure out how to integrate into my robot. i found an arduino library for the sensor lidar sensor library Now im trying yo figure out how to get ...
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1answer
42 views

Appropriate distance sensing technology for specified conditions [closed]

I have been considering different distance sensing technologies for the following circumstance: Range needs to be about 2.5 meters The surface being measured is a wall that is painted black The ...
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293 views

ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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1answer
79 views

Methods for odometry/IMU/Gyro free lidar pointcloud registration for pose estimation

I am currently trying to register a pointcloud in time to find my change in position and heading at each timestep (High speed application). So this is essentially an implementation of SLAM. I am ...
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2answers
191 views

Iterative Closest Point for 2-D LIDAR Data

I have two 2-D point clouds obtained from LIDAR (Light Detection And Ranging) scans at two different poses (positions and orientations) inside a circular structure, where a small object (vertical ...
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Algorithm for distinguishing unique obstacles from simple 2D lidar data (angle and range)

I have scanning laser that returns distance on degree increments ranging from -130 degrees to positive 130 degrees relative to my heading, 261 points in total. It is my intention to utilize an ...
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1answer
71 views

good laser scanner/ lidar for 4 wheel robot? [closed]

i was wondering what could be a good laser scanner can someone get for as much as 180$ ? i am planning to use it from SLAM to build a map, so this is why i wanted to ask here ? have anyone tried ...
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Multiple Line Estimation

Background: I am working on a design in which an autonomous RC car implements a LIDAR sensor to navigate a course. The primary LIDAR sensor returns a 270 array of points, scanning in a line like ...
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255 views

Interfacing multiple ethernet sensors on ROS system (single ethernet port) [closed]

My system consists of the following: A PC with a single ethernet port and other USB ports, a robot mobile base, a SICK LMS lidar with ethernet cable, a Velodyne sensor with Ethernet cable. The robot ...
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1answer
605 views

Waterproofing LiDAR?

I am interested in using a cheap LiDAR module for an outdoor robot I am building. The LiDAR modules that I am looking at are not waterproof and I was wondering how hard it would be to build a ...
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2answers
275 views

Scan an Auditorium, Count People, and Display Open Seats [closed]

I'm looking for any recommended approaches to be able to digitally process a room full people, like an auditorium or a movie theater and output the following information: How many people are in the ...
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2answers
126 views

Cannot see ground plane patterns with LiDAR

I mounted VLP-16 on the roof of my car while driving, I was expecting the lidar to detect the lanes on the ground since the white lines should have higher reflectivity. But in fact I cannot see any ...
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1answer
113 views

how to get h*w point cloud from laser scan not just planer

I am trying to convert a laser scan into point cloud so i can use its cartesian cordintes for computer vision purpose. But when i do it it seems like the width of point cloud converted is only 1. ...
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2answers
442 views

How to move a robot to a point while avoiding obstacles?

I am trying to move a robot in a straight line from point A, to point B. The robot's primary sensor is a Hokuyo URG-04LX-UG01 LIDAR that gives me the magnitude and direction of each point it detects ...
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1answer
2k views

hector SLAM in ROS with RPLIDAR

Trying to set up Hector SLAM with the RPLidar A2. I downloaded both rplidar_ros-master and hector_slam-catkin and extracted them into my catkin_ws/src folder and ran catkin_make. Then I edited the ...
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1answer
247 views

Regarding Pose Graph Slam using Lidar

So I'm trying to incorporate pose graph optimization into a mapping framework using a Lidar. So I basically have all the relative transformations between the pointclouds and I have pairs of ...
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1answer
94 views

Will Lidar see a fence?

I am looking at the possibility of using LIDAR to do obstacle avoidance for a robotics project I am working on but the project involves avoiding a chain link fence. Has anyone used LIDAR to detect ...
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34 views

Long range distance measurements

We are building a plane which should fly autonomously, to achieve best results in the enviroment we are flying in (many Hills and Mountains) we need some sort of reliable height readings. We already ...
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1answer
379 views

How to make a particle filter evaluation function with LIDAR sensing?

I am currently trying to implement a particle filter an a robot in a view to localize it on a 2D plane (i.e. to determine x, y ...
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1answer
963 views

Resources for object detection with 2D Laser Scanner (planar only)

Would you happen to know some good books, tutorials or articles on how to detect objects and their poses, using 2D laser scanners? My goal is to equip a mobile robot with a laser scanner for object ...
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1answer
130 views

What sensors can track small objects (5 cm - 25 cm) in bright sunlight? [closed]

ToF (time-of-flight) cameras seem susceptible to bright outdoor conditions. Are there any sensors made for bright outdoor conditions and could be embeddable in a robot that could detect and/or track ...
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1answer
130 views

I want to know whether the Create2 can interface a LIDAR? [closed]

I want to know if the Create 2 can interface a laser radar? For example an RPLidar.
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2answers
4k views

Do multiple LIDAR systems in same area interfere?

LIDARs use a pulse of light to measure distance, usually from the time of flight to reflection and back. With a collection of these measurements they can determine their surroundings in two or three ...
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7answers
5k views

Why people use camera instead of laser sensor for robot navigation?

I am working on Robot localization and navigation in urban environments. I want to use Camera. But I am a little bit confused about LRF data or other laser data. Why people want to use camera? why ...
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1answer
4k views

Are there any advantages to using a LIDAR for SLAM vs a standard RGB camera?

I've been thinking about building a small UAV with an onboard LIDAR, just for fun. I'm interested in SLAM and autonomous flight indoors and thought that I would need a lidar to get a 3D map of the ...
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1answer
1k views

Inexpensive lidar/radar rangefinder good up to 100m? [closed]

I've been looking around for a lidar/radar rangefinder for a few months now and can't seem to find anything reasonable for my application. My requirements are pretty straightforward: 100m range I2C ...
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1answer
511 views

LIDAR Points as Landmarks

I am currently trying to implement a GraphSLAM/SAM algorithm for LIDAR. From papers I've read, you generate a directed graph from expected LIDAR measurements to landmarks similar to the image below (...
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2answers
3k views

Determining position from a 2D map and LIDAR

We need to determine the 2D position of my robot. To do so, we have a LIDAR at a known high, with an horizontal plane, which gives us the distance to the nearest point for each angular degree (so 360 ...
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2answers
222 views

Lidar problems in a multi-robot setup

Consider multiple mobile bases driving around in some area. In order to get meaningful data from the lidar of each base, the sensors should be mounted as horizontal as possible. Due to safety ...
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1answer
731 views

Landmark extraction algorithm

The landmarks are often used in SLAM. What are the algorithms used to extract them, and how can a robot differentiate the landmarks, if they detect one in point A at Xt and another in Xt+1? How can ...
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1answer
102 views

Directly observing lidar laser rays

I am working with SICK lidars and have to mount/unmount them quite often on my robot. The mounting process is very tedious especially when it comes to making sure that the lidars are horizontal. I ...
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3answers
333 views

What are the approaches for indoor robot positioning? [closed]

I understand that most of the self-driving cars solutions are based on Lidar and video SLAM. But what about robots reserved for indoor usage? Like robot vacuums and industrial AGVs? I see that Lidar ...
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1answer
140 views

Simple way of 3d perception

I wonder is there any simple (can be computed in microcontroller level) option which is suitable for 3d object perception (depth, position, pose or coordinate estimation) of flying robots except LIDAR,...
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1answer
2k views

Calculating acceleration and velocity

I'm writing some Quad Copter software and beginning to implement an altitude hold mode. To enable me to do this I need to get an accurate reading for vertical velocity. I plan to use a Kalman filter ...
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2answers
280 views

What kind of lidar is necessary for SLAM?

I've read about various robots using a 2D lidar system for SLAM ( such as at IGCV, http://www.igvc.org/ ) but I'm wondering how good exactly does the sensor have to be? Specifically: What accuracy ...
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6answers
4k views

What are some low cost alternatives for lidar?

It need not be as effective as lidar or it may have some disadvantages when compared with lidar. What are the probable alternatives? Edit: I'm intending to use it outdoors for navigation of ...
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2answers
343 views

How can I achieve long distance, high quality 3D Scans on a mobile robot?

Am going to be competing in Robocup Rescue in Thailand next year - I was too busy to pull off a campaign for Brazil this year :( Will be using CUDA powered GPUs, Kinect/Xtions, and ROS as the primary ...
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1answer
79 views

What different sensing approaches are used in the current batch of indoor 3D cameras?

I'm aware of the PrimeSense camera powering the Kinect. Are more advanced sensor types available now in the < $500 range? For example, has there been any sort of game-changer in structured light ...
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1answer
3k views

LIDAR solutions [closed]

I am surprised by the price range of Lidar applications considering the simplicity of the design. I try to make a simple project that requires lidar for object recognitions etc. I wouldn't like to use ...
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1answer
88 views

How do visual obstructions impact the ability to localize using LIDAR?

If a street is extremely crowded to an extent that the terrain is not visible from the point of view of the LIDAR (e.g. in google's self driving car), can it still manage to localize itself and ...