Questions tagged [localization]

Localization is the problem of estimating a robot's pose relative to a map of its environment.

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17 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?
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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 ...
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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?
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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 ...
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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 ...
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3answers
61 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 ...
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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 ...
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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 ...
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36 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 ...
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1answer
40 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 ...
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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 ...
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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 ...
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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.
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57 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 ...
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1answer
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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. ...
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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/...
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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 ...
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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 ...
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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 ...
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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 ...
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1answer
40 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 ...
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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, ...
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1answer
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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 ...
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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 ...
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How can I perform localisation without using LIDAR?

I want to make a self driving (autonomous) wheelchair where I want to create a map for localisation of the wheelchair. I do not want to use LIDAR as it is very expensive. Also, I do not mind if the ...
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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 ...
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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 ...
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1answer
102 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 ...
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1answer
81 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 ...
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2answers
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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 ...
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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 ...
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2answers
81 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 ...
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1answer
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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 ...
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1answer
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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?
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1answer
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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 ...
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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 ...
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1answer
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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 ...
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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 ...
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2answers
528 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 ...
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1answer
144 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 ...
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1answer
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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 ...
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2answers
61 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 ...
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1answer
127 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 ...
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1answer
69 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 ...
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2answers
149 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 ...
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1answer
123 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 ...
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2answers
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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 ...
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1answer
67 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 ...
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2answers
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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 ...
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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 ...

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