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

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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
41 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
28 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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1answer
30 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
24 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
26 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 ...
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1answer
25 views

EKF localization with known correspondences to understand SLAM

I am working with ROS indigo and clearpath huskyA200. I want to implement the EKF localization with known correspondences to understand SLAM better and I’ve been reading probabilistic robotics book by ...
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1answer
17 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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25 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 ...
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2answers
55 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 ...
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1answer
42 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 ...
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2answers
111 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 ...
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25 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 ...
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0answers
21 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 ...
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0answers
23 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 ...
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2answers
90 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 ...
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0answers
43 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, ...
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1answer
47 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, ...
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3answers
83 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....
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2answers
142 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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1answer
106 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 ...
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0answers
49 views

following,object avoidance and returning to base robot

Can someone please take the time to help me out,I would really appreciate it. I am doing this project where I need to build a robot that follows a group of soldiers.The bot should start from the ...
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0answers
38 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....
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19 views

Vision based localization: fusing relative and individual measurements from monocular cameras

I am thinking about an application involving multiple cameras and an existing 3D map of features (which has correct metric information embedded), where each camera is capable of localizing itself by ...
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1answer
53 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 ?
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1answer
77 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 ...
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0answers
21 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 ...
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0answers
13 views

Periodic RGB-D localization in noisy environment given map/model (Alternatives to Monte-Carlo/Point Filtering?)

First of all, my apologies if this question has been answered before, or is common knowledge in this field. Please don't hesitate to correct me if I'm wrong on any of my assumptions! So, I'm ...
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1answer
166 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 ...
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2answers
50 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 ...
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1answer
36 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) = \...
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2answers
112 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 ...
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0answers
75 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 ...
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2answers
50 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 ...
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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 ...
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0answers
22 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 ...
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0answers
114 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 ...
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1answer
38 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 ...
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0answers
41 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 ...
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2answers
138 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 ...
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3answers
87 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 ...
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1answer
48 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 ...
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2answers
1k 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 (...
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3answers
42 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 ...
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3answers
658 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 ...
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0answers
60 views

Help with fusing multiple measurements with known covariances

I am working on an estimation application for multiple robots, each of which uses measurements from various sources to calculate position and orientation data. For now, I am looking at about three ...
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1answer
358 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
93 views

Markov Localization using control as an input

When using Hidden Markov Models in Global Localization problems on the prediction step there is a need to calculate the probability of robot's pose given the actions (control u, odometry): ...
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0answers
64 views

Strange EKF localization covariance behavior during prediction only

I've implemented a simple robot simulation based on the equations from EKF localization with known correspondence found in Probabilistic Robotics by Thrun et. al. Everything seems to be working but I ...
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0answers
90 views

How does a measurement model for camera based PNP work?

I am trying to write an EKF that can estimate the covariance of a pose estimate, where the estimation is being done by a PNP algorithm and 3D-2D correspondences in images. Although EKF based camera ...