Questions tagged [localization]
Localization is the problem of estimating a robot's pose relative to a map of its environment.
225
questions
0
votes
0answers
15 views
Looking for robotics dataset for localization based on appearance [closed]
The dataset should include:
- Odometry data
- Sequences taken with an omnidrectional camera
- Sequences taken with a standard camera
- Camera calibration parameters
This is a very urgent situation ...
0
votes
0answers
13 views
Bundle Adjustment for Monocular SLAM
I am confused with how monocular BA works in visual-based SLAM. Is there any tutorials I can do in openCV to provide me some visualization aid?
Thank You.
0
votes
1answer
49 views
EKF sensor fusion
What is the standard way to fuse multiple sensor measurements in an EKF framework?
Say you have Odometry, IMU and some form of Lidar which can produce landmarks.
EKF is normally presented as a ...
0
votes
1answer
26 views
EKF-SLAM what should the observation model be?
I am implementing an EKF algorithm for a drone localization, and while I was defining the observation model I got a bit confused.
This is my situation:
I have a drone which is able to give me the ...
0
votes
2answers
51 views
Which math books would help in learning SLAM systems? [closed]
Recently I started studying papers on SLAM systems by Durrant-Whyte for my research and I'm finding some difficulties in the math (matrices and probability) that is tackled in these papers.
Which ...
0
votes
1answer
50 views
Kalman filter with a known motion model
I have a robot whose pose $(x, y)$ is defined relative to the global frame. I have a sensor which estimates the robot's current pose in the global frame, and the sensor is known to have Gaussian error....
0
votes
3answers
93 views
Difference between SLAM and Localization
What are the differences between SLAM and Localization if you have a known map? How does the position probability update differ between the two?
In particular I'm curious on if localization is a ...
0
votes
1answer
29 views
How can i fusion gyroscope and accelerometer when accelerometer has only roll,pitch val?
I'm currently studying IMU Sensor with 6dof(gyro and accelerometer).
My goal is to get Orientation of robot, and i found out that only 6dof imu sensor wouldn't be
possible to get a correct Orientation ...
1
vote
0answers
32 views
Determining Orientation of a Robot Relative to a Line on Table
I am currently busy with a robot that needs to obtain it's orientation relative to a line seen by a camera. At the moment, I am using Hough lines to obtain a gradient for the line, but the gradient ...
1
vote
0answers
22 views
Hint regarding Localization & Map Scaling
I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
0
votes
1answer
25 views
Uncertainty in grid based fastslam
Given I am building a grid map, and poses are represented using particles, how can I calculate the uncertainty of a pose In a grid based fastslam 2.0?
0
votes
0answers
8 views
loop closing in grid based fastslam 2.0
I understand how grid based fastslam 2.0 works
I just would like to know how to implement a loop closure functionality in a grid-based fastslam 2.0?
Since at each state we only consider the last state ...
1
vote
1answer
83 views
How many landmark measurements to localize a planar robot?
How many landmark measurements are required to localize a robot (i.e. find its x,y position and orientation) moving in a 2D world using 1. only range measurements 2. range plus bearing measurements?
2
votes
1answer
48 views
Where to include velocity in a Kalman filter
I am trying to understand some of the basics of the Kalman filter. The problem I am working on is quite complex, but I have spent some time trying to simplify the problem with an example.
So, let's ...
0
votes
0answers
24 views
Ceiling Camera & robot - SLAM still neded?
I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
3
votes
3answers
67 views
Is SLAM done only first time in a given environment
I am training Turtlebot 2 to move around the office. I come from robotics hardware background but relatively new to computer vision and robotic mapping.
Here are my two fundamental questions related ...
0
votes
1answer
62 views
Collaboration of mobile robot and survaillance camera - classic localization (still) needed?
Just started with the topic of mobile robotics..
so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
0
votes
0answers
29 views
MAV drifting away from its takeoff position
I am working on MAV control in GPS denied environment using px4flow and Lidar sensor.While in simulation and during experiments on real vehicle, MAV doesnt stay at its position and drifts in random ...
0
votes
1answer
44 views
Localisation of Robot in a Rectangle
I am wondering how to go about localising a robot in a rectangle drawn on a smooth surface. Basically, there is a tape that lines the shape of the rectangle, and the color of this tape is unique in ...
0
votes
1answer
44 views
Robot localization in a known map without knowing its initial position in that map
Firstly I would like to say that I'm no expert in Bayesian Filters such as Kalman Filter and Particle Filter, but I've used the EKF before in a robot that has both wheel encoders and an IMU to ...
0
votes
0answers
22 views
Robot localization including the orientation of the boundary
Consider a SLAM system for a mobile robot that is able not only to predict the position wrt the map boundary but also to measure the orientation of the boundary once it is reached. If the measured ...
0
votes
0answers
17 views
Integrating Arduino Cloud Platform into ROS
I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
0
votes
0answers
21 views
What is the difference between SLAM and cooperative localization?
I need to ask this simple question for my own understanding. I am new to the field and want to differentiate between the two.
0
votes
2answers
61 views
Localize a Mobile Robot on a Mirror
I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
1
vote
1answer
100 views
How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?
I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
2
votes
2answers
46 views
Basic question about Markov Localization, probability and belief distribution shift
I am starting in robotics, and reading about Markov Localization, I have one doubt, probably very stupid, but, well, I want to solve it.
Let's take the CMU Website example: https://www.cs.cmu.edu/afs/...
0
votes
1answer
51 views
Effect of platform speed (how fast it is moving) on the quality of SLAM
I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
3
votes
1answer
45 views
building a grid map from gps trajectory poses
I am trying to create a feature grid map with
Images from camera mounted to the top of the car.
Novatel ProPak RTK gps poses
Beforehand, I've checked to ensure that the standard deviations of the ...
2
votes
2answers
21 views
How to calculate the mean of an unsymmetric distribution (Particle Filter)
I'm attempting to implement a variant of Monte Carlo localization in a 2D space with obstacles. While the object is moving around the obstacles the particles flow around the obstacle like in images ...
0
votes
0answers
23 views
Differences between strapdown inertial navigation and motion models
In a state estimation scheme with a simple IMU/GNSS setup using EKF, I have always thought the prediction step would be done using a motion model and all sensor measurements would be incorporated via ...
-1
votes
1answer
42 views
Can drone fly in predefined fixed trajectory without GPS
Is it possible to make a drone to fly in fixed altitude and move in fixed trajectory without GPS. (Drone has to move in fixed path which is already defined).
I am saying without GPS because drone has ...
0
votes
0answers
39 views
How do I set the weights of an Unscented Kalman Filter?
In most of the papers I have read, calculation of weights is done by the following formula:
Where L is the dimensionality of my state and lambda is calculated by:
And the usual values for alpha, ...
2
votes
1answer
60 views
EKF SLAM : Missing older landmarks in new observation
I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
0
votes
0answers
78 views
Information Gain Theory - Conditional Entropy
In the book "Probabilistic Robotics" in chapter 17.2.1 they describe the theoretical concept of information gain regarding to robotic exploration. I'll provide you with an excerpt:
In context of ...
1
vote
0answers
45 views
Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter
I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot.
I found two papers that describe this approach.
CMU. Journal (2006) Vol. 5(1)
IFAC Conference on Embedded Systems
...
0
votes
0answers
25 views
Max angle of beam against surface (ultrasonic sensor)
I am trying to localize a robot within a rectangular room (182cm x 243cm) with completely black walls (so IR sensors and LIDAR are out of the question). I am trying to figure out if I can position ...
3
votes
1answer
112 views
Likelihood Field Matching
I have LIDAR data of an environment in my hand and I want to apply likelihood field matching to this data. I found a source. But I don't understand what the variables of the algorithm mean and how it ...
1
vote
1answer
83 views
Fusing absolute robot localization from markers
I have a system which is composed of a rig of 8 cameras which are used for detecting markers in the environment and which outputs 8 estimates of the absolute robot's position and orientation.
Now, I ...
3
votes
2answers
69 views
bluetooth that could track mobile phone location
newbie here.
after my research, i couldnt find anything that could found what i wanted to search for my project(following robot for indoor location).
without gps, bluetooth only, could i get the exact ...
1
vote
0answers
16 views
Problem with UKF weights when calculating predicted state
I'm having troubles implementing a UKF during the calculation of $\overline{\mu_t}$, specifically in this step:
$$\overline{\mu_t} = \sum_{i=0}^{2n}w_m^{[i]}\chi_t^{*[i]}$$
My problem I'm facing is ...
0
votes
2answers
89 views
outdoor autonomous robot [closed]
i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300)
i have ...
-1
votes
1answer
24 views
Localization in box using rangefinders
Let's say I have a robot, located in a box. The robot can move in the x and y and rotate.
The robot has 4 rangefinders, mounted 90 degrees apart, that measure the distance to the walls of the box (I ...
2
votes
1answer
67 views
why innovation equation in Extended Kalman filter is called innovation? [closed]
In the extended Kalman filter for SLAM, why the innovation equation is called innovation? Is there any reason behind it?
1
vote
1answer
59 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
23 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
33 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 ...
2
votes
0answers
63 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
619 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
146 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 ...
3
votes
1answer
115 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 ...
