Questions tagged [localization]
Localization is the problem of estimating a robot's pose relative to a map of its environment.
1
vote
1answer
28 views
why innovation equation in Extended Kalman filter is called innovation?
In the extended Kalman filter for SLAM, why the innovation equation is called innovation? Is there any reason behind it?
0
votes
0answers
21 views
robot localization with start and end positions known to be the same
I've a robot that starting at a point moves certain distance and comes back to the start location.
I've used the methodology explained here to localize the robot as shown in the below picture. ...
1
vote
1answer
29 views
Why information filter called information filter
We all know Information Filter is a dual representation of kalman filter. The main difference between information filter and kalman filter is the way the Gaussian belief is represented. In kalman ...
2
votes
0answers
6 views
Fiducials in conjuction with AMCL
I'm having some trouble getting fiducials (using aruco_detect) to work alongside amcl. The goal here is to use normal amcl localization when a fiducial is not present, and to switch to localization ...
0
votes
1answer
12 views
Alternate perspective other than probabilistic perspective to implement slam
I am bother on some line which is written is Probabilistic Robotics book by Dr.Sebestian Thrun From a probabilistic perspective, there are two main forms of the SLAM problem,which are both of equal ...
1
vote
0answers
28 views
EIF slam algorithm implementation as per Probabilistic Robotics
I want to implement EIF slam from Probabilistic Robotics Table 11.2. This is the algorithm for EIF slam.
To construct $\Omega and \xi$ matrix I write down a Java code. Here is my code
...
0
votes
2answers
54 views
Mobile robot navigation without static map
I am working on an autonomous mobile robot based on ROS. All the tutorials and examples requires a static map which need to be generated in order to do the localization and mapping.
Do i need to ...
2
votes
1answer
105 views
Follow up question to Robot path planning
So I was browsing through the localization section and found this question and the code which answered it. https://robotics.stackexchange.com/a/7932/21145 but I have a follow-up question to this. So ...
1
vote
0answers
27 views
SEIF ,online version of Graph slam create doubt in Motion Update state
I have a thesis work about Graph Slam The GraphSLAM
Algorithm with Applications to Large-Scale Mapping of Urban Structures
I try to implement it with the help of this paper but during the ...
0
votes
1answer
35 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
68 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 ...
0
votes
1answer
37 views
Relation between GraphSLAM and Iterative closest Point algorithm
I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error.
I taken ...
1
vote
2answers
72 views
GraphSLAM equation doubt
I have question about GraphSLAM implementation.
To find out the path and map using GraphSLAM we rely on this equation:
$$\mu=\Omega^{-1}\xi$$
where $\Omega$ is our information matrix which ...
1
vote
1answer
33 views
Graph Slam Landmark remove and then again add it
I try to implement Graph Slam in real dataset. My data set have some data that describe that the Robot observe same landmark over and over with a large amount of time difference. Prof. Sebastian ...
1
vote
2answers
34 views
How to detect loop in robot movement observing odometer data
I have some odometer data. This data are based upon robot movement. I can transfer those raw data to a motion equation from where I get x,y,and theta co-ordinate of a Robot. If I plot those x,y ...
0
votes
1answer
26 views
How to localize an acoustic source underwater with a hydrophone array
I am working on an Autonomous underwater vehicle (AUV), and I do not know how to localize an acoustic source underwater
I know that I will use an array of hydrophones but how can actually get the ...
0
votes
0answers
29 views
Range Only Kalman Filter
My question concerns the proper way to implement a Kalman Filter using range only information for localization. Imagine I have a robot moving within an environment and over time he receives some range ...
2
votes
2answers
59 views
Why use GraphSLAM?
I am doing some project on Slam. I have a data set of a moving Robot which can give me the value of forward velocity(m/s) and angular velocity(rad/s) and time(s). Now if this data are provided I can ...
0
votes
1answer
53 views
More than 6 cameras in Nvidia Jetson boards
A recent startup named Skydio develops autonomous drones for photography. The drone is named as R1 and utilizes 13 cameras to map its surroundings for localization and motion planning. The brain of ...
0
votes
2answers
413 views
Which is a good and cheap 3D LIDAR or other options?
Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 ...
0
votes
0answers
29 views
Sensor fusion under unknown correlations: can covariance intersection account for delays?
Of late, there has been some interest in cooperative estimation algorithms in robotics, where the information sources are usually sensors such as cameras. When multiple robots observe surrounding ...
0
votes
0answers
26 views
Do I need differential GPS for finding a base station?
I have a setup with a base station and a robot which uses GPS to navigate to said station. To improve accuracy, I was thinking of using differential GPS. As far as I understood, DGPS uses some ...
0
votes
0answers
35 views
The difference between Iterative Closest Point, Scan Matching and Adaptive Monte Carlo Localisation
I am kind of self taught on modern robotics and have always used AMCL for my localisation solutions. My understanding on it is that it compares two scans (which I guess is scan matching) and does a ...
0
votes
2answers
134 views
Laser Scanner for localization in particle filter
I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
0
votes
0answers
47 views
Prediction step for EKF based localization
In my current problem, I'm supposed to use the Extended Kalman filter to localize my diffrential drive robot that uses encoders and laser scanner to traverse the area.
During the prediction step, ...
0
votes
1answer
68 views
How can I compute the covariance of a camera-based relative pose measurement?
I am trying to compute the relative pose between two cameras using their captured images through the usual way of feature correspondences. I use these feature matches to compute the essential matrix, ...
2
votes
3answers
100 views
loop closure detection in visual SLAM
A robotic system is moving a getting its current location using visual odometry (incremental estimation of rotation and translation). To correct its localization, a loop closure technique may be added....
3
votes
3answers
253 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 ...
0
votes
1answer
138 views
Questions about SLAM: bundle adjustment, covariance etc
I have been recently studying about the SLAM family of algorithms, with the idea of implementing some for a multi-robot framework I have. With regards to the concept, I have a couple of related ...
0
votes
0answers
46 views
Indoor localization using beacons
I would like to know the algorithms that are used for SLAM using beacons.. for example I have several beacons in a room.. how would I determine my orientation and my position ?
After getting my pose....
0
votes
1answer
64 views
How's robot vacuum cleaner back to charger when battery is low? [closed]
What's technology robot vacuum cleaner used to locate it's charger when battery is low ?
1
vote
1answer
94 views
Kalman filter for vision based pose estimation: 'good' measurements not improving system covariance
I am starting off with a very simple Kalman filter for vision based pose estimation (PnP algorithm). The filter is inspired by the constant velocity model in this OpenCV tutorial, but I am ignoring ...
1
vote
0answers
30 views
hand_eye_calibration, surface normal by stereo vision
I'm a graduate student at mechanical engineering. I took computer vision(stereo vision) last semester but I'm still fairly new to this area. I wonder if I may ask 3 questions related to computer ...
1
vote
1answer
251 views
Process noise and Measurement noise in Kalman filter
I am doing the robot localisation project. Now I stuck on the effect of measurement and process noise in Kalman filtering. Could you please explain what impacts they have while estimating the position ...
0
votes
2answers
51 views
How to find a smartphone with a quadcopter?
I think there are some quad-copter at the market those can find you from your smart phone. I don't know how accurate it is and how does it works? Is there a solution that I can build an android/ios ...
1
vote
1answer
37 views
$p(m|x_t, u_t, x_{t-1})$ What does Thrun mean with the “map probability”?
Different question from the last one since I still struggle with the concept.
In his book "Probabilistic Robotics", Thrun has the following equation: (Context here) (5.49)
$p(x_t|u_t,x_{t-1},m) = \...
0
votes
2answers
119 views
explanation of kalman filter
I have gone through my lecture notes but I can't seem to figure out the five different steps of a Kalman filter and how these steps are Divided into prediction and correction and how the state and ...
1
vote
0answers
91 views
EKF based SLAM, marginalization and key-frames
I have a couple of tightly related questions regarding EKF-based visual SLAM. It is common in the Kalman based VSLAM litterature to marginalize 3d points and past poses. Condsidering the EKF as a ...
2
votes
2answers
57 views
Localizing two points using self position and angle between this points
my question is about localizing points in 2D space.
I know exact position (x,y,alpha) of my robot in some room. In room there are two points of unknow location.
Robot can find angle between he and ...
3
votes
1answer
1k views
Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors
I'm new to all this robotics stuff. Especially to Kalman filter.
My initial goal is to have velocity as accurate as possible
Here is my case:
I have a phone which is mounted, for example in the ...
1
vote
0answers
23 views
Resampling step for MC variation reduction
I am reading particle filtering for robot localisation and specifically the resampling step to avoid particle degeneracy. Can anyone explain me what MC (Monte Carlo) variation means? I saw it couple ...
1
vote
0answers
116 views
Kalman filter localisation equations
I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 ...
1
vote
1answer
46 views
How to efficiently update a local Cartesian frame when traveling over long distances on a curved earth
I have a mobile robot which receives GPS position (lat/lon) and has an IMU for handling gaps in GPS service.
I want to be able to conduct short distance planning in a Cartesian plane, but the robot ...
1
vote
0answers
43 views
Probabilistic Robotics: Map-based motion model [closed]
I asked the following question in math.stackexchange, but realized that this might be the more appropriate place to post it: How did Thrun derive the following formula: (Context here)
I think that ...
1
vote
2answers
155 views
Grid based SLAM using BeagleBone Green Wireless and RPLIDAR
I've written a grid based DFS algorithm with a PID-based steering system to maneuver a 30cm2 square-grid maze all in Python. The robot is a 4 wheel drive with an approximate size of 20 cm. The ...
2
votes
3answers
123 views
Find the robot pose from three beacon measurement
At every timestep my robot gets sensor measurements from a scanner that finds three beacons with known poses $B_1 = (B_{1x}, B_{1y})^T, B_2 = (B_{2x}^T, B_{2y}) , B_3 = (B_{3x}, B_{3y})^T$ these ...
1
vote
1answer
53 views
Differential GPS
I want to use DGPS on a robot. I understand how DGPS works but I am having trouble figuring out what specific hardware I need. Is there a good resource for how to actually setup DGPS? Thanks for your ...
0
votes
2answers
2k views
Using IR LED and photodiode to estimate range and bearing of other Swarm Robots
I'm trying to make swarm robots that use 8 IR LEDs and 8 Photodiodes arranged alternately along the circumference of the circular body to determine the range and bearing of other nearby swarm robots (...
0
votes
3answers
46 views
Localization on a robot grid
I have a skid steer drive train with an encoder on each side of the robot along with a gyro to measure the angle of the robot. The width of the robot is 26 inches. Using the encoders I would like to ...
1
vote
3answers
796 views
Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization? [closed]
We need a SLAM system for mobile platform which will be used in on-site construction.
We are to build a 3D map from clouds of points and need localization in it.
We don’t need fast localization, but ...
